“…Although the technique uses a global fitness function, such design intervention requires domain knowledge of the task and ad hoc design choices to facilitate searching for a solution. Alternatively, CA lookup tables could be networked to exploit inherent modularity in a physical system during evolution, such as series of locally coupled leg controllers for a hexapod robot (Earon et al, 2000). This is in contrast to some predefined recurrent neural network solutions such as by (Beer & Gallagher, 1992), (Parker & Li, 2003) that are used to evolve 'leg cycles' and gait coordination in two separate stages.…”