A self-organizing map for controlling artificial locomotion

Authors:
Orivaldo V. Santana, Jr.;Aluizio F. R. Araújo
Affiliations:
Center of Informatics, Federal University of Pernambuco, Pernambuco, Brazil;Center of Informatics, Federal University of Pernambuco, Pernambuco, Brazil
Venue:
ICANN'10 Proceedings of the 20th international conference on Artificial neural networks: Part II
Year:
2010

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Abstract

This paper investigates the ability of STRAGEN to construct state trajectories so as to control the locomotion of legged robots. STRAGEN is a model of a self-organized artificial neural network which has a variable topology. Two scenarios are developed: one for checking the behavior of STRAGEN vis-à-vis noisy data and other to test the ability of STRAGEN to construct states belonging to different trajectories.