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NEURAL
NETWORKS FOR
ROBOTICS
COORDINATE
TRANSFORMATION
BY STEPHEN AYLOR, LUIS RABEL, SEMA ALPTEKIN,
Elsevier publication 1992, Volume 22 Issue 4
ARTIFICIAL NEURAL
NETWORKS
A neural network is a set
of connected input/output
units where each
connection has a weight
associated with it.
Neural networks resemble
the human brain
Natural neurons
An artificial neuron
Backpropagation
algorithm
A hidden or output
layer unit
Fischertechnik Robot
Inverse Kinematics
Using Neuro-Fuzzy
Intelligent Technique
for Robotic
Manipulator
Shiv Manjaree, Vijyant Agarwal, and B.C. Nakra,
International Journal of Advanced Computer Research,
Volume-3, Number-4,Issue-13 (2013)
Result
A total of 9261 observation
An Artificial
Neural Network
Based Robot
Controller that
Uses Rats Brain
Signals
Marsel Mano, Genci Capi, Norifumi Tanaka and
Shigenori Kawahara, ISSN 2218-6581 , Mdpi journals,
29 April 2013
Rat Training
At the beginning, the rat is trained to
learn to press the right or left.
Then robot is used by pressing the
levers in scenarios that change from
simple to more complicated ones, as
follows:
The robot is placed in front of the rat
and it moves straight forward when
any lever is pressed.
The robot is placed on the right (left)
side of the rat and it follows half of a Ushape trajectory when only the right
(left) lever is pressed.
The robot is placed initially on the right
or left side of the rat and it moves to
the right or left of a U-shape when the
respective lever is pressed.
Method
Four electrodes were implanted on
the rats brain (Figure 2).
Electrodes, L1 and R1, were
implanted in the motor cortex area,
respectively in the left and right
hemisphere.
Electrodes, L2 and R2, were
implanted in the somatosensory
cortex area, respectively in the left
and right hemisphere.
Two neural networks have been
considered with similar
architecture: an RBFNN and multilayer perceptron neural network
trained with Bayesian regulation
back propagation (BPNN)
Conclusion
Controller Design
Proportional-integrative-
Avoid obstacle
Based on the robots kinematic scheme
Conclusion
In order to obtain an improved model,