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Aiming at the movement balance control problem of the robot, this paper presents a sensorimotor system Cognitive model based on operant conditioning principle, and researches the working cooperation among its interior nerve organs, so that a sensorimotor system is established. The Cognitive model can realize the sensorimotor mapping from states to actions by supervised learning, and carry out the...
In view of the nature unstable movement balance problems of the wheeled robot, the robust bionic autonomous learning algorithm is proposed as the wheeled robot learning mechanism based on the operant conditioning principle. The algorithm uses the characteristics of the robust control, which it can improve the system ability at suppressing interference and produce the optimum control behavior. Combining...
In order to solve the movement balance problems about the two-wheeled self-balance robot, an autonomic learning method is presented. This method is based on the fuzzy adaptive algorithm, and it could identify online the fuzzy model of the robot, and detect the parameter variation of the robot and track its characteristics about the parameter variation over time. This paper uses the model of the robot...
According to the anthropopathic characteristics of the robot, this paper puts forward a central nervous system model based on the basal ganglia, and studies the working cooperation among cerebellum, basal ganglia, cerebral cortex and other nerve apparatus, so that the perceive model about a central nervous system is established. The perceive model mostly consists of cerebellum, basal ganglia and cerebral...
Neural network architecture designed for large-scale and the generalization is poor, presents a neural network algorithm for fast pruning based on significance analysis. The essence of the method is based on large-scale neural network perceptron as the research object, the constructor error curved surface model to analyze the network connection weights of disturbance on the network output error caused...
According to the motion balance for a two-wheeled robot control problems, we put forward a bionic learning algorithm based on growing cell structure (GCS) network and Q-learning. GCS network has in addition to the competitive mechanism of SOM network, and it can also carry out self-organizationally evolution through the continuous growth of new neurons. Q-learning algorithm is a model free reinforcement...
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