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Proceedings Paper

Adaptive Control Of A Legged Robot Using A Multi-Layer Connectionist Network
Author(s): John J. Helferty; Moshe Kam; Joseph B. Collins
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Paper Abstract

A Multi-layer Connection Network (MCN) is to control a one-legged mobile robot. The network has no knowledge of the dynamics of the robot, and learns to develop a contol strategy through trial and error. Our results are presented in the form of computer simulations that demonstrate the ability of the (MCN) to devise a set of proper control signals that will develop stable running on a flat terrain.

Paper Details

Date Published: 1 March 1990
PDF: 12 pages
Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); doi: 10.1117/12.969881
Show Author Affiliations
John J. Helferty, Temple University (United States)
Moshe Kam, Drexel University (United States)
Joseph B. Collins, Naval Research Laboratory (United States)

Published in SPIE Proceedings Vol. 1195:
Mobile Robots IV
Wendell H. Chun; William J. Wolfe, Editor(s)

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