Research in artificial neural networks has genera1ly emphasized homogeneous architectures. This heterogeneity is crucial to the flexible generation of behavior which is essential for survival in a complex, dynamic environment. It may also provide powerful insights into the design of artificial neural networks. In this paper, we describe a heterogeneous neural network for controlling the wa1king of a simulated insect. This controller is inspired by the neuroethological It exhibits a and neurobiological literature on insect locomotion.

This heterogeneity is crucial to the flexible generation of behavior which is essential for survival in a complex, dynamic environment. It may also provide powerful insights into the design of artificial neural networks. In this paper, we describe a heterogeneous neural network for controlling the wa1king of a simulated insect. This controller is inspired by the neuroethological and neurobiological literature on insect locomotion. It exhibits a variety of statically stable gaits at different speeds simply by varying the tonic activity of a single cell. It can also adapt to perturbations as a natural consequence of its design. INTRODUCTION Even very simple animals exhibit a dazzling variety of complex behaviors which they continuously adapt to the changing circumstances of their environment. Nervous systems evolved in order to generate appropriate behavior in dynamic, uncertain situations and thus insure the survival of the organisms containing them.

This heterogeneity is crucial to the flexible generation of behavior which is essential for survival in a complex, dynamic environment. It may also provide powerful insights into the design of artificial neural networks. In this paper, we describe a heterogeneous neural network for controlling the wa1king of a simulated insect. This controller is inspired by the neuroethological and neurobiological literature on insect locomotion. It exhibits a variety of statically stable gaits at different speeds simply by varying the tonic activity of a single cell. It can also adapt to perturbations as a natural consequence of its design. INTRODUCTION Even very simple animals exhibit a dazzling variety of complex behaviors which they continuously adapt to the changing circumstances of their environment. Nervous systems evolved in order to generate appropriate behavior in dynamic, uncertain situations and thus insure the survival of the organisms containing them.

This heterogeneity is crucial to the flexible generation of behavior which is essential for survival in a complex, dynamic environment. It may also provide powerful insights into the design of artificial neural networks. In this paper, we describe a heterogeneous neural network for controlling the wa1king of a simulated insect. This controller is inspired by the neuroethological and neurobiological literature on insect locomotion. It exhibits a variety of statically stable gaits at different speeds simply by varying the tonic activity of a single cell. It can also adapt to perturbations as a natural consequence of its design. INTRODUCTION Even very simple animals exhibit a dazzling variety of complex behaviors which they continuously adapt to the changing circumstances of their environment. Nervous systems evolved in order to generate appropriate behavior in dynamic, uncertain situations and thus insure the survival of the organisms containing them.