Artificial neural network topology

This network topology has only three input variables to the left, the other three are now weights of the last hidden layer. On the top view it can be seen that there are three independent pathways that process the position, each of these correspond to directions of the intended leg direction {dx, dy, dz}. The total number of interneurons in this example is 12.

ANN performance comparison between tested topologies

Traditional network topology is shown by the solid line marked with (*); the distributed network topology is marked with (o). Left: Deviation resulting after training was stopped at 4 different stages. Right: When the average speed is moved away from that used for training the performance of the traditional network deteriorates.