Adaptive Control Of A Legged Robot Using A Multi-Layer Connectionist Network

John J. Helferty; Moshe Kam; Joseph B. Collins

doi:10.1117/12.969881

1 March 1990 Adaptive Control Of A Legged Robot Using A Multi-Layer Connectionist Network

John J. Helferty, Moshe Kam, Joseph B. Collins

Proceedings Volume 1195, Mobile Robots IV; (1990) https://doi.org/10.1117/12.969881
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

A Multi-layer Connection Network (MCN) is to control a one-legged mobile robot. The network has no knowledge of the dynamics of the robot, and learns to develop a contol strategy through trial and error. Our results are presented in the form of computer simulations that demonstrate the ability of the (MCN) to devise a set of proper control signals that will develop stable running on a flat terrain.

Citation Download Citation

John J. Helferty, Moshe Kam, and Joseph B. Collins "Adaptive Control Of A Legged Robot Using A Multi-Layer Connectionist Network", Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); https://doi.org/10.1117/12.969881

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