کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
404269 677407 2012 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
The eMOSAIC model for humanoid robot control
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
The eMOSAIC model for humanoid robot control
چکیده انگلیسی

In this study, we propose an extension of the MOSAIC architecture to control real humanoid robots. MOSAIC was originally proposed by neuroscientists to understand the human ability of adaptive control. The modular architecture of the MOSAIC model can be useful for solving nonlinear and non-stationary control problems. Both humans and humanoid robots have nonlinear body dynamics and many degrees of freedom. Since they can interact with environments (e.g., carrying objects), control strategies need to deal with non-stationary dynamics. Therefore, MOSAIC has strong potential as a human motor-control model and a control framework for humanoid robots. Yet application of the MOSAIC model has been limited to simple simulated dynamics since it is susceptive to observation noise and also cannot be applied to partially observable systems. Our approach introduces state estimators into MOSAIC architecture to cope with real environments. By using an extended MOSAIC model, we are able to successfully generate squatting and object-carrying behaviors on a real humanoid robot.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Neural Networks - Volumes 29–30, May 2012, Pages 8–19
نویسندگان
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