Abstract
This paper investigates the ability of STRAGEN to construct state trajectories so as to control the locomotion of legged robots. STRAGEN is a model of a self-organized artificial neural network which has a variable topology. Two scenarios are developed: one for checking the behavior of STRAGEN vis-à-vis noisy data and other to test the ability of STRAGEN to construct states belonging to different trajectories.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Sproewitz, A., Moeckel, R., Maye, J., Ijspeert, A.J.: Learning to move in modular robots using central pattern generators and online optimization. International Journal of Robotics Research 27(3-4), 423–443 (2008)
Nakamura, Y., Mori, T., Sato, M.A., Ishii, S.: Reinforcement learning for a biped robot based on a cpg-actor-critic method. Neural Netw. 20(6), 723–735 (2007)
Ijspeert, A.J., Crespi, A., Ryczko, D., Cabelguen, J.M.: From swimming to walking with a salamander robot driven by a spinal cord model. Science 315(5817), 1416–1420 (2007)
Ayers, J., Witting, J.: Biomimetic approaches to the control of underwater walking machines. Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences 365(1850), 273–295 (1850)
Arena, P., Fortuna, L., Frasca, M., Sicurella, G.: An adaptive, self-organizing dynamical system for hierarchical control of bio-inspired locomotion. IEEE Transactions on Systems, Man, and Cybernetics, Part B 34(4), 1823–1837 (2004)
Ijspeert, A.J.: Central pattern generators for locomotion control in animals and robots: a review. Neural Networks 21(4), 642–653 (2008)
Ijspeert, A.J., Hallam, J., Willshaw, D.: Evolving swimming controllers for a simulated lamprey with inspiration from neurobiology. Adaptive Behavior 7(2), 151–172 (1999)
Benante, R., Araujo, A.: Self-organizing maps to generate state trajectories of manipulators. In: IEEE International Conference on Systems, Man and Cybernetics, ISIC, vol. 1, pp. 1590–1595 (October 2007)
Koenig, N., Howard, A.: Design and use paradigms for gazebo, an open-source multi-robot simulator. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3, pp. 2149–2154 (2004)
Keogh, E.J., Pazzani, M.J.: Derivative dynamic time warping. In: First SIAM International Conference on Data Mining, SDM 2001 (2001)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Santana, O.V., Araújo, A.F.R. (2010). A Self-Organizing Map for Controlling Artificial Locomotion. In: Diamantaras, K., Duch, W., Iliadis, L.S. (eds) Artificial Neural Networks – ICANN 2010. ICANN 2010. Lecture Notes in Computer Science, vol 6353. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15822-3_51
Download citation
DOI: https://doi.org/10.1007/978-3-642-15822-3_51
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-15821-6
Online ISBN: 978-3-642-15822-3
eBook Packages: Computer ScienceComputer Science (R0)