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

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

doi:10.1117/12.969881

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

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

Research output: Contribution to journal › Conference article › peer-review

5 Scopus citations

Abstract

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 language	English (US)
Pages (from-to)	180-191
Number of pages	12
Journal	Proceedings of SPIE - The International Society for Optical Engineering
Volume	1195
DOIs	https://doi.org/10.1117/12.969881
State	Published - Mar 1 1990
Externally published	Yes
Event	Mobile Robots IV 1989 - Philadelphia, United States Duration: Nov 1 1989 → Nov 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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10.1117/12.969881

Cite this

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abstract = "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.",

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AU - Kam, Moshe

AU - Collins, Joseph B.

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N2 - 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.

AB - 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.

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DO - 10.1117/12.969881

M3 - Conference article

AN - SCOPUS:0003193194

SN - 0277-786X

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SP - 180

EP - 191

JO - Proceedings of SPIE - The International Society for Optical Engineering

JF - Proceedings of SPIE - The International Society for Optical Engineering

T2 - Mobile Robots IV 1989

Y2 - 1 November 1989 through 3 November 1989

ER -

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

Abstract

All Science Journal Classification (ASJC) codes

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