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| [[Archivo:Neurons.png|300px]]
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| [[Archivo:Cube3.png|400px]]
 
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== Abstract ==
 
== Abstract ==
  
'' ''
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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''
  
 
== Authors ==
 
== Authors ==
* xxxxxxxxx -[[Juan Gonzalez:Main|Juan González-Gómez]],  
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* [[Avinash Ranganath]], [[Juan Gonzalez:Main|Juan González-Gómez]], [http://roboticslab.uc3m.es/roboticslab/persona.php?id_pers=34 Luis Moreno Lorente]
* '''Oral presentation''':  
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* '''Oral presentation''': Avinash Ranganath
 
 
== Miniskybot Robot: Main page ==
 
  
 
== Download ==
 
== Download ==
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|| Paper (PDF)
 
|| Paper (PDF)
 
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|  [http://www.scribd.com/doc/57370406/A-DISTRIBUTED-NEURAL-CONTROLLER-FOR-LOCOMOTION-IN-LINEAR-MODULAR-ROBOTIC-CONFIGURATIONS on-line]  
 
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| [http://www.iearobotics.com/downloads/2011-05-30-robocity/Avinash-et-at-MR-ANN-Robocity-May2011-figures.zip Avinash-et-at-MR-ANN-Robocity-May2011-figures.zip]
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|| Paper figures (SVG)
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| [http://www.iearobotics.com/downloads/2011-05-30-robocity/Avinash-et-at-MR-ANN-Robocity-May2011-slides.pdf Avinash-et-at-MR-ANN-Robocity-May2011-slides.pdf]
 
| Slides, in PDF
 
| Slides, in PDF
 
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| [http://www.iearobotics.com/downloads/2011-05-30-robocity/Avinash-et-at-MR-ANN-Robocity-May2011-slides.odp Avinash-et-at-MR-ANN-Robocity-May2011-slides.odp]
 
| Slides, in Openoffice format (ODP)
 
| Slides, in Openoffice format (ODP)
 
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| []
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| [http://www.scribd.com/doc/57445769/Slides-A-Distributed-Neural-Controller-for-Locomotion-in-Linear-Modular-Robotic-Configurations on-line]
 
| Read the Slides on-line in Scribd
 
| Read the Slides on-line in Scribd
 
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== Pictures ==
 
== Pictures ==
  
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{|
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| [[Archivo:Fig 4 Cube3 2Conn NoNN Gen49.jpeg|thumb|200px|'''Figure 4''' (Click to enlarge)]]
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| [[Archivo:Fig 5 FreqVsSpeed Cube3 2conn NoNN 400Hz.jpeg|thumb|200px|'''Figure 5''' (Click to enlarge)]]
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| [[Archivo:Fig 6 Cube3 2Conn NoNN F Gen49.jpeg|thumb|200px|'''Figure 6''' (Click to enlarge)]]
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|  [[Archivo:Fig 7 FreqVsSpeed Cube3 2Conn Local F.jpeg|thumb|200px|'''Figure 7''' (Click to enlarge)]]
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|  [[Archivo:Fig 8 FreqVsSpeed Cube3 4Conn Local F.jpeg|thumb|200px|'''Figure 8''' (Click to enlarge)]]
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|  [[Archivo:Fig 9 Pertubation Cube3 2Conn NoNNFB F 50sec.jpeg|thumb|200px|'''Figure 9''' (Click to enlarge)]]
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== Videos ==
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{| class="wikitable"
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|<youtube>hv7ivl0trAg|300|250</youtube> <br>
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[http://www.youtube.com/watch?v=hv7ivl0trAg Direct link to the video in youtube]
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<br>
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Locomotion of the Cube3 and Minicube-I <br>
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modular robots with sinusoidal oscillators
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|}
  
 
== Links ==
 
== Links ==
 
* [[Juan Gonzalez:Publicaciones|Publications]]
 
* [[Juan Gonzalez:Publicaciones|Publications]]
 +
* [http://193.146.57.167/robocity2030/eng/public-en/ Robocity2030]
 +
* [[OpenMR: Modular Robots plug-in for Openrave]]
  
 
== News ==
 
== News ==
* '''2011/Jun/7th''': This page is published!
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* '''2011/Jun/8th''': This page is published!

Revisión actual del 05:02 9 jun 2011


Neurons.png Cube3.png

Paper reference

  • Avinash Ranganath, Juan Gonzalez-Gomez, Luis Moreno Lorente (2011), "A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations", Book chapter (VII), ISBN: 978-84-7484-238-8. Centro de automática y Robótica CSIC-UPM, pp. 129-144.

Abstract

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

Authors

Download

Avinash-et-at-MR-ANN-Robocity-May2011.pdf Paper (PDF)
on-line Paper On-line
Avinash-et-at-MR-ANN-Robocity-May2011.odt Paper sources (Openoffice 3.2)
Avinash-et-at-MR-ANN-Robocity-May2011-figures.zip Paper figures (SVG)
Avinash-et-at-MR-ANN-Robocity-May2011-slides.pdf Slides, in PDF
Avinash-et-at-MR-ANN-Robocity-May2011-slides.odp Slides, in Openoffice format (ODP)
on-line Read the Slides on-line in Scribd

Pictures

Figure 4 (Click to enlarge)
Figure 5 (Click to enlarge)
Figure 6 (Click to enlarge)
Figure 7 (Click to enlarge)
Figure 8 (Click to enlarge)
Figure 9 (Click to enlarge)

Videos

300|250</youtube>

Direct link to the video in youtube
Locomotion of the Cube3 and Minicube-I
modular robots with sinusoidal oscillators

Links

News

  • 2011/Jun/8th: This page is published!