A simple mechanical system for studying adaptive oscillatory neural networks

Jouffroy, Guillaume; Jouffroy, Jérôme

doi:10.1109/icsmc.2006.385253

Cited by 4 publications

(2 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In (Jouffroy and Jouffroy, 2006), we revisited and synthetized a mathematical model of the Roller Racer from the original work of Krishnaprasad and Tsakriris (Krishnaprasad and Tsakriris, 1995). The input control was the angle of the axis.…”

Section: Vehicle Modelmentioning

confidence: 99%

See 1 more Smart Citation

Torque Control With Recurrent Neural Networks

Jouffroy¹

2008

Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics Service

View full text Add to dashboard Cite

In the robotics field, a lot of attention is given to the complexity of the mechanics and particularly to the number of degrees of freedom. Also, the oscillatory recurrent neural network architecture is only considered as a black box, which prevents from carefully studying the interesting features of the network's dynamics. In this paper we describe a generalized teacher forcing algorithm, and we build a default oscillatory recurrent neural network controller for a vehicle of one degree of freedom. We then build a feedback system as a constraint method for the joint. We show that with the default oscillatory controller the vehicle can however behave correctly, even in its transient time from standing to moving, and is robust to the oscillatory controller's own transient period and its initial conditions. We finally discuss how the default oscillator can be modified, thus reducing the local feedback adaptation amplitude.

show abstract

Section: Vehicle Modelmentioning

confidence: 99%

“…Thus we create an angle feedback from the Roller Racer to the oscillatory controller, which purpose is to constrain the angle within some limits. We control the vehicle in the forward direction which means the average angle of the handlebar should be π (see (Jouffroy and Jouffroy, 2006)).…”

Section: Feedback Design Of the Systemmentioning

confidence: 99%