Neural Preprocessing and Control of Reactive Walking Machines
Towards Versatile Artificial Perception-Action Systems
Seiten
2007
|
2007
Springer Berlin (Verlag)
978-3-540-68802-0 (ISBN)
Springer Berlin (Verlag)
978-3-540-68802-0 (ISBN)
Biologically inspired walking machines are fascinating objects to study, from thepointofviewoftheirmechatronicaldesignaswellastherealisationofc- trol concepts. Research on this subject takes its place in a rapidly growing, highly interdisciplinary ?eld, uniting contributions from areas as diverse as biology, biomechanics, material science, neuroscience, engineering, and c- puter science. Nature has found fascinating solutions for the problem of legged loco- tion, and the mechanisms generating the complex motion patterns performed by animals are still not very well understood. Natural movements provide the impressionofeleganceandsmoothness,whereastheimitationoftheirarti?cial analogues still looks rather clumsy. The diverse research on arti?cial legged locomotion mainly concentrated on the mechanical design and on pure movement control of these machines; i.e., in general these machines were unable to perceive their environment and reactappropriately.Contributionsdevelopingembodiedcontroltechniquesfor sensor-driven behaviors are rare, and if considered, they deal only with one type of behavior; naturally, this is most often an obstacle avoidance behavior. There are only a few approaches devoted to the multimodal generation of several reactive behaviors. This book presents a pioneering approach to tackle this challenging pr- lem. Inspired by the obstacle avoidance and escape behaviors of cockroaches and scorpions, which here are understood as negative tropisms, and by the prey-capturing behavior of spiders, taken as a positive tropism, corresponding sensors and neural control modules are introduced in such a way that wa- ing machines can sense and react to environmental stimuli in an animal-like fashion.
Biologically Inspired Perception-Action Systems.- Neural Concepts and Modeling.- Physical Sensors and Walking Machine Platforms.- Artificial Perception-Action Systems.- Performance of Artificial Perception-Action Systems.- Conclusions.
Erscheint lt. Verlag | 15.5.2007 |
---|---|
Reihe/Serie | Cognitive Technologies |
Zusatzinfo | XVI, 187 p. |
Verlagsort | Berlin |
Sprache | englisch |
Maße | 155 x 235 mm |
Gewicht | 480 g |
Themenwelt | Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik |
Technik ► Elektrotechnik / Energietechnik | |
Technik ► Maschinenbau | |
Schlagworte | Artificial Intelligence • Autonomous walking machines • Behavior control • Biologically inspired perception-action systems • Electronics • Embedded Systems • Ethology • Evolutionary Robotics • Intelligence • Künstliche Intelligenz • neural control • neural mechanisms • Neural networks • neuroethology • Neuroscience • Performance • Reactive behavior • Reactive Control • Recurrent Neural Networks • robot • Roboter • Robotics • Sensor • Sensor Fusion • Switch • Symbol |
ISBN-10 | 3-540-68802-1 / 3540688021 |
ISBN-13 | 978-3-540-68802-0 / 9783540688020 |
Zustand | Neuware |
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