Adaptive joint trajectory generator based on a chaotic recurrent neural network

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The aim of this paper is to introduce a scalable and adaptable joint trajectory generator based on a recurrent neural network. As main application we target highly redundant kinematic structures like humanoid and multi-legged robotic systems. The network architecture consists of a set of leak integrators which outputs are limited by sigmoidal activation functions. The neural circuit exhibits very rich dynamics and is capable to generate complex periodic signals without the direct excitation of external inputs. Spontaneous internal activity is possible thanks to the presence of recurrent connections and a source of Gaussian noise that is overlapped with the signals. By modulating the internal chaotic level of the network it is possible to make the system exploring high-dimensional spaces and therefore to learn very complex time sequences. A preliminary set of simulations demonstrated how a relatively small network composed of hundred units is capable to generate different motor paths which can be triggered by exteroceptive sensory signals.

Original languageEnglish
Title of host publication5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages285-290
Number of pages6
ISBN (Print)9781467393201
DOIs
Publication statusPublished - Dec 2 2015
Event5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015 - Providence, United States
Duration: Aug 13 2015Aug 16 2015

Other

Other5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015
CountryUnited States
CityProvidence
Period8/13/158/16/15

Keywords

  • Adaptable Motor Path Generator
  • Humanoid Robotics
  • Lightweight Quadruped Robot
  • Neurodynamics
  • Recurrent Neural Network

ASJC Scopus subject areas

  • Artificial Intelligence

Fingerprint Dive into the research topics of 'Adaptive joint trajectory generator based on a chaotic recurrent neural network'. Together they form a unique fingerprint.

Cite this