Nesting, safety, layering, and autonomy: A reorganizable multiagent cerebellar architecture for intelligent control with application in legged robot locomotion and gymnastics

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 28, Issue 3, 1998, Pages 357-375

  Zhang, Wen Ran ^a,b  

^a IEEE   (United States)

^b Lamar University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACCIDENT PREVENTION; COMPUTER ARCHITECTURE; FUZZY SETS; INTELLIGENT CONTROL; LEARNING SYSTEMS; MOTION CONTROL; MOTION PLANNING; ROBOTICS;

COORDINATED COMPUTATIONAL INTELLIGENCE (CCI); REORGANIZABLE MULTIAGENT CEREBELLAR ARCHITECTURE;

MOBILE ROBOTS;

EID: 0032099148     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/3477.678631     Document Type: Article

References (25)

1. J. S. Albus, "A new approach to manipulator control: The cerebellar model articulation controller (CMAC)," Parts I and II, Trans. ASME. J. Dyn. Syst. Meas. Contr., vol. 63, no. 3, pp. 220-233, 1975.
2. _, "Robotics: Where has it been? Where is it going?," Robot. Autonom. Syst., vol. 6, pp. 199-219, 1990.
3. J. C. Bezdek, "On the relationship between neural networks, pattern recognition, and intelligence," Int. J. Approx. Reas., vol. 6, pp. 85-107, 1992.
4. M. Brown and C. Harris, NeuroFuzzy Adaptive Modeling and Control, Prentice Hall, 1994.
5. A. H. Bond and L. Gasser, "An analysis of problems and research in DAI," in Readings in Distributed Artificial Intelligence, A. H. Bond and L. Gasser, Eds. San Mateo, CA: Morgan Kaufmann, pp. 3-35.
6. R. A. Brooks, "A robust layered control system for a mobile robot," IEEE J. Robot. Automat., vol. 2, no. 3, pp. 14-23, 1986.
7. Neural Networks and Neural Intelligence, S. Grossberg, Ed. Cambodge, MA: MIT Press, 1988.
8. T. Kohonen, Self-Organization and Associative Memory. New York: Springer-Verlag, 1984.
9. E. H. Mamdani, "Application of fuzzy algorithms for control of simple dynamic plant," Proc. Inst. Electr. Eng., vol. 121, no. 12, pp. 1585-1588, 1974.
10. W. T. Miller, "Learning dynamic balance of a biped walking robot," in Proc. IEEE Int. Conf. Neural Networks, July 1994, pp. 2771-2776.
11. D. E. Rumelhart and J. L. McClelland, Parallel Distributed Processing. Cambridge, MA: MIT Press, 1986, vol. 1.
12. G. N. Saridis, "Analytic formulation of the principle of increasing precision with decreasing intelligence for intelligent machines," Automatica, vol. 25, no. 3, pp. 461-467, 1989.
13. H. Wang, T. T. Lee, and W. A. Gruver, "A neuromorphic controller for a three-link biped robot," IEEE Trans. Syst., Man, Cybern., vol. 22, no. 1, pp. 164-169, 1992.
14. L. Wang and J. M. Mendel, "Generating fuzzy rules by learning from examples," IEEE Trans. Syst., Man, Cybern., vol. 22, no. 6, pp. 1414-1427, 1992.
15. H. Ying, "A fuzzy controller with linear control rules is the sum of a global two dimensional multilevel relay and a local nonlinear proportial-integral controller," Automatica, vol. 29, no. 2, pp. 1139-1143, 1993.
16. H. Ying, "Structure decomposition of the general MIMO fuzzy systems," Int. J. Intell. Contr. Syst., vol. 1, no. 3, pp. 327-338, 1996.
17. W. Zhang, J. Bezdek, and S. Chen, "Pool2: A generic system for cognitive map development and decision analysis," IEEE Trans. Syst., Man, Cybern., vol. 19, no. 1, pp. 31-39, 1989.
18. W. Zhang, "NPN fuzzy sets and NPN qualitative algebras: A computational framework for bipolar cognitive modeling and multiagent decision analysis," IEEE Trans. Syst., Man, Cybern. B, vol. 26, pp. 561-574, Aug. 1996.
19. W. Zhang, W. Wang, and S. King, "An agent-oriented open system shell for distributed decision process modeling," J. Organiz. Comput., vol. 4, no. 2, pp. 127-154, 1995.
20. W. Zhang, S. Chen, W. Wang, and R. King, "A cognitive map based approach to the coordination of distributed cooperative agents," IEEE Trans. Syst., Man, Cybern., vol. 22, no. 1, pp. 103-114, 1992.
21. W. Zhang, "MAC-J: A self-organizing multiagent-cerebellar model for fuzzy-neural control of uniped robot locomotion," Int. J. Intell. Contr. Syst., vol. 1, no. 3, pp. 339-354, 1996.
22. W. Zhang, K. Kalyana-Kumar, A. L. Li, V. Nguyen, and W. E. Simon, "Multiagent fuzzy-neural control of a 3-link uniped," in Proc. IEEE Int. Conf. Fuzzy Systems, New Orleans, LA, Sept. 1996, vol. 1, pp. 78-85.
23. W. Zhang, "Nesting, safety, layering, and autonomy: A coordinated computational intelligence approach to folding legged robot locomotion and gymnastic control," in Proc. IEEE 11th Int. Symp. Intelligent Control, Dearborn, MI, Sept. 1996, pp. 524-529.
24. W. Zhang, W. Zhong, A. L. Li, and W. E. Simon, "Locomotion and gymnastic training of a 4-ink uniped with coordinated computational intelligence," in Proc. IEEE Int. Conf. Fuzzy Systems, New Orleans, LA, Sept. 1996, pp. 239-246.
25. W. Zhang, "Neurofuzzy agents and neurofuzzy laws for autonomous machine learning and control," in Proc. IEEE Int. Conf. Neural Networks, Houston, TX, June 1997.