An adaptive, self-organizing dynamical system for hierarchical control of bio-inspired locomotion

被引:84
作者
Arena, P [1 ]
Fortuna, L
Frasca, M
Sicurella, G
机构
[1] Univ Catania, Dipartimento Elett Elettron & Sistemi, I-95100 Catania, Italy
[2] SST Grp, STMicroelect, I-95121 Catania, Italy
来源
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | 2004年 / 34卷 / 04期
关键词
bio-inspired robots; cellular neural networks; dynamical nonlinear systems; locomotion control; motor maps;
D O I
10.1109/TSMCB.2004.828593
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, dynamical systems made up of locally coupled nonlinear units are used to control the locomotion of bioinspired robots and, in particular, a simulation of an insect-like hexapod robot. These controllers are inspired by the biological paradigm of central pattern generators and are responsible for generating a locomotion gait. A general structure, which is able to change the locomotion gait according to environmental conditions, is introduced. This structure is based on an adaptive system, implemented by motor maps, and is able to learn the correct locomotion gait on the basis of a reward function. The proposed control system is validated by a large number of simulations carried out in a dynamic environment for simulating legged robots.
引用
收藏
页码:1823 / 1837
页数:15
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