Self Constructing Neural Network Robot Controller based on On-line Task Performance Feedback.
Andreas HuemerMario A. GóngoraDavid A. ElizondoPublished in: ICINCO-ICSO (2008)
Keyphrases
- neural network
- control architecture
- control signals
- motion control
- mobile robot
- biped walking
- adaptive neural
- human robot interaction
- robot manipulators
- neural network controller
- control system
- adaptive fuzzy
- real time
- biped robot
- matlab simulation
- trajectory tracking
- robotic manipulator
- wheeled mobile robot
- central pattern generator
- reference trajectory
- force control
- control algorithm
- back propagation
- humanoid robot
- closed loop
- robotic systems
- sliding mode control
- legged robots
- neural network model
- lyapunov function
- vision system
- motor skills
- visual feedback
- dynamic model
- artificial neural networks
- robot control
- multi robot
- control scheme
- pid controller
- autonomous robots
- stability margin
- control method
- robot arm
- adaptive control
- feedforward neural networks
- cerebellar model articulation controller
- fuzzy logic
- neural nets
- human operators
- fuzzy neural network
- radial basis function
- motion planning
- neural model
- path planning
- fault diagnosis
- elman network
- genetic algorithm
- desired trajectory
- proportional integral derivative
- neural network structure
- force feedback
- service robots
- controller design
- real robot
- control law