DocumentCode
358944
Title
Effects of using different neural network structures and cost functions in locomotion control
Author
Juang, Jih-Gau
Author_Institution
Inst. of Maritime Technol., Nat. Taiwan Ocean Univ., Keelung, Taiwan
Volume
5
fYear
2000
fDate
2000
Firstpage
3523
Abstract
Effects of using different neural network structures and cost functions in locomotion control are investigated. Simulations focus on refinement and a thorough understanding of an artificial intelligent learning scheme. This scheme uses a neural network controller with backpropagation through time learning rule. Through learning, the controller can generate locomotion trajectory along a pre-defined path. Different issues regarding the scheme have been examined. They include the effects of using different numbers of hidden units and the effects of using only position parameters in the cost function
Keywords
backpropagation; intelligent control; legged locomotion; neural nets; path planning; backpropagation; biped robots; cost functions; intelligent control; learning rule; locomotion control; neural network; Artificial intelligence; Artificial neural networks; Backpropagation; Cost function; Intelligent networks; Learning; Leg; Legged locomotion; Neural networks; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2000. Proceedings of the 2000
Conference_Location
Chicago, IL
ISSN
0743-1619
Print_ISBN
0-7803-5519-9
Type
conf
DOI
10.1109/ACC.2000.879225
Filename
879225
Link To Document