Improving the RTR Growing Functional Module

"Growing functional modules" constitutes a prospective paradigm founded on the epigenetic approach and aimed at the automatic generation of adaptive controllers for autonomous robots. Such controllers result from compiling the graphic representation of a distributed architecture based on the interconnection of growing functional modules and then linking it with the GFM library. A previous paper presented a new module named RTR, designed to perform basic automatic control; when applied to the control of an inverted pendulum, experiments proved the viability of this module but also exhibited some deficiencies. The present paper describes the enhancements introduced to the previous version of the RTR-module and the corresponding experimental results when applied to the control of an inverted pendulum