Back to Search
Start Over
Self-Organizing Map With Time-Varying Structure to Plan and Control Artificial Locomotion.
- Source :
- IEEE Transactions on Neural Networks & Learning Systems; Aug2015, Vol. 26 Issue 8, p1594-1607, 14p
- Publication Year :
- 2015
-
Abstract
- This paper presents an algorithm, self-organizing map-state trajectory generator (SOM-STG), to plan and control legged robot locomotion. The SOM-STG is based on an SOM with a time-varying structure characterized by constructing autonomously close-state trajectories from an arbitrary number of robot postures. Each trajectory represents a cyclical movement of the limbs of an animal. The SOM-STG was designed to possess important features of a central pattern generator, such as rhythmic pattern generation, synchronization between limbs, and swapping between gaits following a single command. The acquisition of data for SOM-STG is based on learning by demonstration in which the data are obtained from different demonstrator agents. The SOM-STG can construct one or more gaits for a simulated robot with six legs, can control the robot with any of the gaits learned, and can smoothly swap gaits. In addition, SOM-STG can learn to construct a state trajectory form observing an animal in locomotion. In this paper, a dog is the demonstrator agent. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISSN :
- 2162237X
- Volume :
- 26
- Issue :
- 8
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Neural Networks & Learning Systems
- Publication Type :
- Periodical
- Accession number :
- 108444331
- Full Text :
- https://doi.org/10.1109/TNNLS.2014.2345662