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  • Slides: A Distributed Neural Controller For Locomotion in Linear Modular Robotic Configurations

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    Juan Gonzalez Gomez
    3K vistas16 páginas
    Artificial Neural Networks (ANNs) are well known for oscillatory output when in a closed loop with the feedback from the system it is controlling. Here we propose a new neural controller for locomotion in linear modular robotic configurations, based on oscillatory output from simple ANNs. We investigate two different methods for controlling the action of each module based on the neural output, and also evolve neural controllers which have the ability to overcome external perturbations. We use a standard Genetic Algorithm (GA) for optimizing the synaptic weights of the ANN

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    Slides: A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

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    Artificial Neural Networks (ANNs) are well known for oscillatory output when in a closed loop with the feedback from the system it is controlling. Here we propose a new neural controller for locomotion in linear modular robotic configurations, based on oscillatory output from simple ANNs. We investigate two different methods for controlling the action of each module based on the neural output, and also evolve neural controllers which have the ability to overcome external perturbations. We use a standard Genetic Algorithm (GA) for optimizing the synaptic weights of the ANN

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    Attribution ShareAlike (BY-SA)
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    3K vistas16 páginas

    Slides: A Distributed Neural Controller For Locomotion in Linear Modular Robotic Configurations

    Cargado por

    Juan Gonzalez Gomez
    Artificial Neural Networks (ANNs) are well known for oscillatory output when in a closed loop with the feedback from the system it is controlling. Here we propose a new neural controller for locomotion in linear modular robotic configurations, based on oscillatory output from simple ANNs. We investigate two different methods for controlling the action of each module based on the neural output, and also evolve neural controllers which have the ability to overcome external perturbations. We use a standard Genetic Algorithm (GA) for optimizing the synaptic weights of the ANN

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    Attribution ShareAlike (BY-SA)
    Descargue como PDF, TXT o lea en línea desde Scribd
    Marcar por contenido inapropiado
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    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    Avinash Ranganath, Juan Gonzlez-Gmez, Luis Moreno Lorente Robotics Lab


    Universidad Carlos III de Madrid

    9 Workshop - Robots colabativos e interaccin Humano-Robot - Robocity 2030-II CAR, E.T.S. de Ingenieros Industriales, Madrid. 30/May/2011

    Index

    Index
    1.

    Introduction

    2. Robotic platform 3. Proposed model 4. Evolution 5. System 1 6. System 2 7. Fault tolerance 8. Conclusion

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    1. Introduction

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    1. Introduction

    Sinusoidal Oscillator

    Sinusoidal Oscillator:
    i t=Ai sin 2 t i Oi T

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    1. Introduction

    Objective
    1. Distributed 2. Homogeneous 3. Adaptive 4. Fault tolerant

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    2. Robotic platform

    Y1 in OpenRAVE

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    3. Proposed model

    Neural Controller

    Input layer:

    1-2: Connector information 3: Feedback from self actuator 4-5: Feedback from neighbouring module's actuator One hidden layer with five hidden neurons One output neuron connected to the actuator

    Hidden layer:

    Output layer:

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    4. Evolution

    Evolution

    Genetic Algorithm

    Roulette Wheel selection method Intermediate Recombination method Fitness: Displacement measured as euclidean distance from origin Evaluation time: 50 seconds. Parameters Population size Generations Crossover percentage Elite population retained Mutation rate Values 50 100 50% 12.5% 1/Size of genome
    8

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    5. System 1

    Frequency controlled method

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    5. System 1

    Frequency controlled method

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    10

    6. System 2

    Frequency adaptive method

    Where, : Output from the ANN : Angle of the actuator at time ti and x are constants.

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    11

    6. System 1

    Frequency adaptive method

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    12

    6. System 1

    Frequency adaptive method

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    13

    7. Fault tolerance

    Limit cycle behaviour

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    14

    8. Conclusion

    Conclusion

    Proposed model validated for locomotory oscillations. Fault tolerance with limit cycle behaviour. Fast convergence to optimal oscillatory pattern.

    Future work

    Validate this model on the real Y1 modular robots. Adaptive behaviour for locomotion on different surfaces

    Evolve the topology to both complexify and to find the minimal neural architecture.

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    15

    A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations

    Avinash Ranganath, Juan Gonzlez-Gmez, Luis Moreno Lorente Robotics Lab


    Universidad Carlos III de Madrid

    9 Workshop - Robots colabativos e interaccin Humano-Robot - Robocity 2030-II CAR, E.T.S. de Ingenieros Industriales, Madrid. 30/May/2011

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