Hierarchical Control for Bipedal Locomotion using Central Pattern Generators and Neural Networks.
Sayantan AuddySven MaggStefan WermterPublished in: CoRR (2019)
Keyphrases
- neural network
- robotic systems
- mobile robot
- robot control
- pattern recognition
- autonomous robots
- pattern matching
- quadruped robot
- multi layer
- fuzzy logic
- control system
- adaptive neural
- neural network model
- nonlinear dynamics
- process control
- neural nets
- humanoid robot
- data sets
- learning algorithm
- multi layer perceptron
- artificial neural networks
- network architecture
- back propagation
- associative memory
- degrees of freedom
- closed loop
- self organizing maps
- fault diagnosis