Reactive Neural Control for Phototaxis and Obstacle Avoidance Behavior of Walking Machines

Poramate Manoonpong, Frank Pasemann, Florentin Wörgötter

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

Abstrakt

—This paper describes reactive neural control used to
generate phototaxis and obstacle avoidance behavior of walking
machines. It utilizes discrete-time neurodynamics and consists of
two main neural modules: neural preprocessing and modular neural
control. The neural preprocessing network acts as a sensory fusion
unit. It filters sensory noise and shapes sensory data to drive the
corresponding reactive behavior. On the other hand, modular neural
control based on a central pattern generator is applied for locomotion
of walking machines. It coordinates leg movements and can generate
omnidirectional walking. As a result, through a sensorimotor loop this
reactive neural controller enables the machines to explore a dynamic
environment by avoiding obstacles, turn toward a light source, and
then stop near to it.
OriginalsprogEngelsk
TidsskriftInternational Journal of Mechanical Systems Science and Engineering
Vol/bind1
Udgave nummer3
Sider (fra-til)172-177
ISSN1307-7473
StatusUdgivet - 2007

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