A Chaotic Neural Network as Motor Path Generator for Mobile Robotics
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Date
2014
Authors
Folgheraiter, Michele
Gini, Giuseppina
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE International Conference on Robotics and Biomimetics
Abstract
This work aims at developing a motor path
generator for applications in mobile robotics based on a
chaotic neural network. The computational paradigm inspired
by the neural structure of microcircuits located in the human
prefrontal cortex is adapted to work in real-time and used
to generate the joints trajectories of a lightweight quadruped
robot. The recurrent neural network was implemented in
Matlab and a software framework was developed to test the
performances of the system with the robot dynamic model.
Preliminary results demonstrate the capability of the neural
controller to learn period signals in a short period of time
allowing adaptation during the robot operation
Description
Keywords
Recurrent Neural Network RNN, Dynamic Neural Network, Control Path Generator, Lightweight Quadruped Robot, Neurodynamics
Citation
Michele Folgheraiter, Giuseppina Gini; 2014; A Chaotic Neural Network as Motor Path Generator for Mobile Robotics; IEEE International Conference on Robotics and Biomimetics; http://nur.nu.edu.kz/handle/123456789/2337