Modular neural control for a reactive behavior of walking machines

Poramate Manoonpong*, Frank Pasemann, Joern Fischer

*Corresponding author for this work

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Abstract

A small modular neural network is presented which is able to control the sensor-driven behavior of walking machines with many degrees of freedom. The controller is composed of a so called minimal recurrent controller (MRC) for sensory signal processing, a SO(2)-network as neural oscillator to generate the rhythmic leg movements, and a velocity regulating network (VRN) which expands the steering capabilities of the walking machine. This recurrent neurocontroller enables the machine to explore an in-door environment by avoiding obstacles. It was developed and tested using a physical simulation environment, and was then successfully transferred to the physical four-legged walking machine, called AMOS-WD02.

Original languageEnglish
Publication date12. Dec 2005
Number of pages6
Publication statusPublished - 12. Dec 2005
Event2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA 2005 - Espoo, Finland
Duration: 27. Jun 200530. Jun 2005

Conference

Conference2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA 2005
CountryFinland
CityEspoo
Period27/06/200530/06/2005
SponsorIEEE Robotics and Automation Society

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