A chaotic neural network as motor path generator for mobile robotics

Michele Folgheraiter, Giuseppina Gini
2014 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)  
This work aims at developing a motor path generator for applications in mobile robotics based on a chaotic neural network. The computational paradigm inspired by the neural structure of microcircuits located in the human prefrontal cortex is adapted to work in real-time and used to generate the joints trajectories of a lightweight quadruped robot. The recurrent neural network was implemented in Matlab and a software framework was developed to test the performances of the system with the robot
more » ... namic model. Preliminary results demonstrate the capability of the neural controller to learn period signals in a short period of time allowing adaptation during the robot operation.
doi:10.1109/robio.2014.7090308 dblp:conf/robio/FolgheraiterG14 fatcat:qduu3iy4fzhu7isv53ggv4jkqy