The motor behavior of stick insects climbing over large gaps has already been the subject of many experimental studies. The searching movement of the legs after stepping into the gap is analyzed in the first part of this study. Based on these and earlier biological results, a simulation study is carried out using WALKNET, a neural network model of the stick insect walking system. Five new modules are implemented into the model in the form of a unit assembly system. The performance of the enhanced model is evaluated in a series of tests designed based on previous biological experiments. The simu lation study shows that with only four new modules (for searching movements, velocity control, a load effect and short steps), the performance of the model in a simulated gap crossing situation can be improved beyond the performance of the biological system under comparable conditions.
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