Adaptive control of a legged robot using a multi-layer connectionist network

John J. Helferty, Moshe Kam, Joseph B. Collins

Research output: Contribution to journalConference articlepeer-review

5 Scopus citations


A Multi-layer Connection Network (MCN) is to control a one-legged mobile robot. The network has no knowledge of the dynamics of the robot, and learns to develop a contol strategy through trial and error. Our results are presented in the form of computer simulations that demonstrate the ability of the (MCN) to devise a set of proper control signals that will develop stable running on a flat terrain.

Original languageEnglish (US)
Pages (from-to)180-191
Number of pages12
JournalProceedings of SPIE - The International Society for Optical Engineering
StatePublished - Mar 1 1990
Externally publishedYes
EventMobile Robots IV 1989 - Philadelphia, United States
Duration: Nov 1 1989Nov 3 1989

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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