Robustness of a Distributed Neural Network Controller for Locomotion in a Hexapod Robot

IEEE Transactions on Robotics and Automation

Volumn 8, Issue 3, 1992, Pages 293-303

  Chiel, Hillel J ^a   Beer, Randall D ^a   Quinn, Roger D ^a   Espenschied, Kenneth S ^a  

^a CASE WESTERN RESERVE UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEMS, DISTRIBUTED PARAMETER--ROBUSTNESS; CONTROL SYSTEMS--ROBUSTNESS; NEURAL NETWORKS;

DISTRIBUTED NEURAL NETWORK CONTROLLERS; HEXAPOD ROBOTS; LOCOMOTION;

ROBOTS;

EID: 0026883787     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.143348     Document Type: Article

References (19)

1. D. J. Todd, Walking Machines: An Introduction to Legged Robots. London: Kogan Page, 1985.
2. M. H. Raibert, Legged Robots That Balance. Cambridge, MA: MIT Press, 1986.
3. S. Song and K. Waldron, Machines That Walk: The Adaptive Suspension Vehicle. Cambridge, MA: MIT Press, 1989.
4. M. Donner, Real-time Control of Walking. Cambridge, Massachusetts: Birkhauser Boston, 1987.
5. R. A. Brooks, “A robot that walks: Emergent behaviors from a carefully evolved network,” Neur. Comput., vol. I, pp. 253–262, 1989.
6. R. D. Beer, H. J. Chiel, and L. S. Sterling, “Heterogeneous neural networks for adaptive behavior in dynamic environments,” in Advances in Neural Information Processing Systems, D. S. Touretzky, Ed. San Mateo. CA: Morgan Kaufmapp. 1989, pp. 577–585.
7. K. G. Pearson and R. Franklin, “Characteristics of leg movements and patterns of coordination in locusts walking on rough terrain,” Int. J. Robotics Res., vol. 3, pp. 101–112, 1984.
8. D. Graham, “Pattern and control of walking in insects,” in Advances in Insect Physiology. London: Academic, 1985, pp. 31–140.
9. F. Delcomyn “Factors regulating insect walking,” Ann. Rev. Entornol., vol. 30, pp. 239–256, 1985.
10. M. W. Spong and M. Vidyasagar, Robot Dynamics and Control. New York: Wiley, 1989.
11. B. J. Waibel and H. Kazerooni, “Theory and experiments on the stability of robot compliance control,” IEEE Trans. Robotics Automat., vol. 7. pp. 95–104, 1991.
12. R. D. Quinn, R. D. Beer, H. J. Chiel, K. S. Espenschied and P. Larsson, “Biologically-inspired neural control of a mechanical hexapod,” ASME.1. Dyn. Syst., Meas. Contr., submitted for publication.
13. R. B. Beer, H. J. Chiel, R. D. Quinn, K. Espenschied, and P. Larsson. “A distributed neural network for hexapod robot locomotion,” Near. Comput., vol. 4, pp. 356–365, 1912.
14. H. J. Chiel and R. D. Beer, “A lesion study of a heterogeneous artificial neural network for hexapod locomotion,” in Proc. Int. Joint Conf. Neural Networks (Washington, DC), vol. I, 1989, pp. 407–414.
15. R. D. Beer, Intelligence as Adaptive Behavior: An Experiment in Computational Neuroethology. New York: Academic, 1990.
16. K. G. Pearson, C. R. Fourtner and R. K. Wong, “Nervous control of walking in the cockroach,” in Control of Posture and Locomotion, R. B. Stein, K. G. Pearson, R. S. Smith, and J. B. Reaford, Eds. New York-Plenum, 1973, pp. 495–514.
17. M. Burrows. “Processing of mechanosensory signals in local reflex pathways of the locust,” J. Exp. Biol. vol. 146, pp. 209–227, 1989.
18. D. M. Wilson, “Insect walking,” Ann. Rev Entomol., vol. 11, pp 103–122, 1906.
19. J. K. Hodgkins and M. H. Raibert, “Adjusting step length for rough terrain locomotion,” IEEE Trans. Robot. Automat., vol. 7, pp. 289-298