Poramate Manoonpong, Frank Pasemann, and Hubert Roth (2006)
A Modular Neurocontroller for a Sensor-Driven Reactive Behavior of Biologically Inspired Walking Machines
In: Proceedings of the Fourth International Conference on Neural Networks and Artificial Intelligence (ICNNAI 2006), edited by -. Brest State Technical University, pages 70-77. (export entry)
In this article, a
modular neurocontroller is presented. It has the capability to
generate a reactive behavior of walking machines. The
neurocontroller is formed on the basis of a modular structure. It
consists of the three different functionality modules: neural
preprocessing, a neural oscillator network and velocity regulating
networks. Neural preprocessing is for sensory signal processing.
The neural oscillator network, based on a central pattern
generator, generates the rhythmic movement for basic locomotion of
the walking machines while the velocity regulating networks change
the walking directions of the machines with respect to the sensory
inputs. As a result, this neurocontroller enables the machines to
explore in- and out-door environments by avoiding obstacles and
escaping from corners or deadlock situations. It was firstly
developed and tested on a physical simulation environment, and
then was successfully transferred to the six-legged walking
machine AMOS-WD06.
ICNNAI-AMOS06Actual.pdf
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