Title :
Dynamic control of a robot leg with self-organizing feature maps
Author :
Berns, K. ; Müller, B. ; Dillmann, R.
Author_Institution :
Gruppe Interaktive Planuungstechnik, Forschungszentrum Inf., Karlsruhe, Germany
Abstract :
In the following report the dynamic control of a robot leg is described. The control algorithm is trained using self-organizing feature maps. This approach belongs to the area of unsupervised learning techniques. The dynamic control is tested using a simulation system. Thereafter, it is used to control the physical robot leg
Keywords :
legged locomotion; dynamic control; robot leg; self-organizing feature maps; simulation system; unsupervised learning; Force control; Insects; Kinematics; Leg; Legged locomotion; Neural networks; Robot control; Service robots; Unsupervised learning; Vehicle dynamics;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583167
