DocumentCode
2493046
Title
Hybrid control architecture in bio-mimetic robot
Author
Yang, Linxiang ; Yue, Jiguang ; Zhang, Xiaoyun
Author_Institution
Dept. of Control Theor. & Control Eng., Tongji Univ., Shanghai
fYear
2008
fDate
25-27 June 2008
Firstpage
5699
Lastpage
5703
Abstract
The paper discussed a new control architecture for bio-mimetic robot, hybrid control architecture combines the best aspects of reactive and deliberative control and is proven to be the most suitable controller for autonomous bio-mimetic robots. The hybrid control architecture consist a command/coordinating level with computed discrete time map-based (DTM) neuronal networks and the central pattern generators with analog electronic neuron networks. The two technologies can be fused through a D/A interface.
Keywords
biomimetics; discrete time systems; intelligent robots; mobile robots; neurocontrollers; analog electronic neuron networks; autonomous biomimetic robots; deliberative control; discrete time map; hybrid control architecture; reactive control; Animals; Cognition; Computer architecture; Control systems; Intelligent robots; Organisms; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation; Bio-mimetic; Hybrid architecture; robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location
Chongqing
Print_ISBN
978-1-4244-2113-8
Electronic_ISBN
978-1-4244-2114-5
Type
conf
DOI
10.1109/WCICA.2008.4593860
Filename
4593860
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