DocumentCode :
3264698
Title :
Goal-Directed Movement Generation with a Transient-Based Recurrent Neural Network Controller
Author :
Reinhart, R. Felix ; Steil, Jochen J.
Author_Institution :
Res. Inst. for Cognition & Robot. - CoR-Lab., Bielefeld Univ., Bielefeld, Germany
fYear :
2009
fDate :
22-26 July 2009
Firstpage :
112
Lastpage :
117
Abstract :
We introduce a control framework based on a recurrent neural network for goal-directed movement generation. We exploit the network dynamics to implement a nonlinear task space controller. Efficient online learning and execution of the network makes the proposed approach adaptive and real-time capable. We achieve reliable and excellent generalization for the 7-DOF redundant PA-10 robot arm in simulation.
Keywords :
learning (artificial intelligence); manipulator dynamics; motion control; neurocontrollers; nonlinear control systems; recurrent neural nets; 7-DOF redundant PA-10 robot arm; goal-directed movement generation; motion generation; network dynamics; nonlinear task space controller; online learning; transient-based recurrent neural network controller; Cognition; Cognitive robotics; Computer networks; Intelligent robots; Inverse problems; Machine learning; Neurons; Orbital robotics; Recurrent neural networks; Reservoirs; goal-directed movement generation; inverse kinematics; neural controller; recurrent neural network; reservoir computing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Technologies for Enhanced Quality of Life, 2009. AT-EQUAL '09.
Conference_Location :
Iasi
Print_ISBN :
978-0-7695-3753-5
Type :
conf
DOI :
10.1109/AT-EQUAL.2009.31
Filename :
5231031
Link To Document :
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