Evolving multi-segment 'super-lamprey' CPG's for increased swimming control

‘Super-lamprey’ swimmers which operate over a greater control range are evolved. Propulsion in the lamprey, an eel-like fish, is governed by activity in its spinal neural network. This CPG is simulated, in accordance with Ekeberg’s model, and then optimised alternatives are generated with genetic algorithms. Extending our prior lamprey work on single segment oscillators to multiple segments (including interaction with a mechanical model) demonstrates that Ekeberg’s CPG is not a unique solution and that simpler versions with wider operative ranges can be generated. This work ‘out-evolves’ nature as an initial step in understanding how to control wave power devices, with similar motion to the lamprey.