Simulation model for locomotion in mobile legged robots that includes optimization and associative memory

Author

Espinosa, Ismael ; Lara, Ritaluz ; Jimenez, Joel

Author_Institution

Dept. of Phys., Univ. Nacional Autonoma de Mexico, Mexico City, Mexico

Volume

4

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

2380

Abstract

It is usually accepted that complex locomotion behavior involves arrays of coupled neuronal oscillators. However, it seems reasonable to suggest that more neuronal machinery is needed to explain how lengthy sequences of movements are stored and selected to express a particular integrated motor behavior. Here simulation examples are presented where simple neural networks with the properties of optimization and associative memory are used as pre-processing elements to rhythmic oscillators forming then a more complete model of locomotion behavior machinery. Even if there is no experimental evidence that this occurs in biological movements the implementation of similar architectures in mobile legged robots could provide a more intelligent substrate for locomotion and other types of navigation

Keywords

Hopfield neural nets; content-addressable storage; legged locomotion; neurocontrollers; optimisation; robot dynamics; Hopfield neural networks; associative memory; coupled neuronal oscillators; legged locomotion; mobile robots; optimization; simulation model; Associative memory; Biological system modeling; Couplings; Intelligent robots; Legged locomotion; Machine intelligence; Machinery; Mobile robots; Neural networks; Oscillators;

fLanguage

English

Publisher

ieee

Conference_Titel

Neural Networks, 1999. IJCNN '99. International Joint Conference on

ISSN

1098-7576

Print_ISBN

0-7803-5529-6

Type

conf

DOI

10.1109/IJCNN.1999.833439

Filename

833439