NDLI: Self-organizing CMAC neural networks and adaptive dynamic control

Content Provider	IEEE Xplore Digital Library
Author	Jianjuen Hu Pratt, G.
Copyright Year	1999
Description	Author affiliation: Leg Lab., MIT, Cambridge, MA, USA (Jianjuen Hu)
Abstract	A self-organizing CMAC neural network mechanism and an CMAC based adaptive control scheme are presented. Two main efforts have been made in this study. One is on the self-organizing mechanism of CMAC neural network. The CMAC basis functions with a stair-waveform are introduced. A data clustering technique is used in reducing the memory size significantly and a structural adaptation technique is developed in order to accommodate new data sets. Another effort is on the unsupervised learning scheme, which is based on a Lyapunov index function. Adaptive dynamic control is implemented by means of the self-organizing CMAC neural network, and it can identify the unmodelled dynamics of a plant and ensures asymptotic system stability in a Lyapunov sense. The adaptive control system has been applied in the locomotion control of a bipedal walking robot successfully in simulation.
Starting Page	259
Ending Page	265
File Size	618282
Page Count	7
File Format	PDF
ISBN	0780356659
ISSN	21589860
DOI	10.1109/ISIC.1999.796665
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-09-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Neural networks Adaptive systems Programmable control Adaptive control Brain modeling Legged locomotion Motor drives Robot kinematics Biological system modeling Robot sensing systems
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Adaptive dynamic balance of a biped robot using neural networks

Climbing obstacles via bio-inspired CNN-CPG and adaptive attitude control

Stable adaptive control of a bipedal walking; robot with CMAC neural networks

Biologically-inspired adaptive dynamic walking of the quadruped on irregular terrain

Biologically-inspired adaptive dynamic walking of the quadruped on irregular terrain

Adaptive dynamic control of a bipedal walking robot with radial basis function neural networks

Neural Control and Learning for Versatile, Adaptive, Autonomous Behavior of Walking Machines

Adaptive, neural control architecture for the walking machine LAURON

Biologically inspired neural controllers for motor control in a quadruped robot

Self-organizing CMAC neural networks and adaptive dynamic control

Similar Documents

Adaptive dynamic balance of a biped robot using neural networks

Climbing obstacles via bio-inspired CNN-CPG and adaptive attitude control

Stable adaptive control of a bipedal walking; robot with CMAC neural networks

Biologically-inspired adaptive dynamic walking of the quadruped on irregular terrain

Biologically-inspired adaptive dynamic walking of the quadruped on irregular terrain

Adaptive dynamic control of a bipedal walking robot with radial basis function neural networks

Neural Control and Learning for Versatile, Adaptive, Autonomous Behavior of Walking Machines

Adaptive, neural control architecture for the walking machine LAURON

Biologically inspired neural controllers for motor control in a quadruped robot

Self-organizing CMAC neural networks and adaptive dynamic control