A chaotic neural network as motor path generator for mobile robotics

Michele Folgheraiter; Giuseppina Gini

doi:10.1109/ROBIO.2014.7090308

A chaotic neural network as motor path generator for mobile robotics

Michele Folgheraiter, Giuseppina Gini

School of Engineering and Digital Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

This work aims at developing a motor path generator for applications in mobile robotics based on a chaotic neural network. The computational paradigm inspired by the neural structure of microcircuits located in the human prefrontal cortex is adapted to work in real-time and used to generate the joints trajectories of a lightweight quadruped robot. The recurrent neural network was implemented in Matlab and a software framework was developed to test the performances of the system with the robot dynamic model. Preliminary results demonstrate the capability of the neural controller to learn period signals in a short period of time allowing adaptation during the robot operation.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	64-69
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090308
Publication status	Published - Apr 20 2014
Event	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia Duration: Dec 5 2014 → Dec 10 2014

Publication series

Name	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Other

Other	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	12/5/14 → 12/10/14

Keywords

Control Path Generator
Dynamic Neural Network
Lightweight Quadruped Robot
Neurodynamics
Recurrent Neural Network RNN

ASJC Scopus subject areas

Biotechnology
Artificial Intelligence
Human-Computer Interaction

Access to Document

10.1109/ROBIO.2014.7090308

Cite this

Folgheraiter, M., & Gini, G. (2014). A chaotic neural network as motor path generator for mobile robotics. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 64-69). Article 7090308 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090308

A chaotic neural network as motor path generator for mobile robotics. / Folgheraiter, Michele; Gini, Giuseppina.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 64-69 7090308 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Folgheraiter, M & Gini, G 2014, A chaotic neural network as motor path generator for mobile robotics. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090308, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Institute of Electrical and Electronics Engineers Inc., pp. 64-69, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, 12/5/14. https://doi.org/10.1109/ROBIO.2014.7090308

Folgheraiter M, Gini G. A chaotic neural network as motor path generator for mobile robotics. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 64-69. 7090308. (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). doi: 10.1109/ROBIO.2014.7090308

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A chaotic neural network as motor path generator for mobile robotics

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