New strategy for hierarchical intelligent control of robotic manipulator-hybrid neuromorphic and symbolic control

Author

Shibata, Takanori ; Fukuda, Toshio ; Kosuge, Kazuhiro ; Arai, Fumihito ; Tokita, Masatoshi ; Mitsuoka, Toyokazu

Author_Institution

Dept. of Mech. Eng., Nagoya Univ., Japan

fYear

1991

fDate

18-21 Nov 1991

Firstpage

107

Abstract

The authors present a novel scheme for intelligent control which is an integrated approach of the neuromorphic and symbolic control of a robotic manipulator, including an applied neural network (NN) for servo manipulation, while the knowledge-based part is symbolic manipulation. This control system is analogous to the human cerebral control structure. Experiments and simulations demonstrated that the NN can connect the numerical real world with the symbolic artificial intelligence world

Keywords

knowledge based systems; neural nets; robots; symbol manipulation; hierarchical intelligent control; knowledge based control; neural network; neuromorphic control; numerical real world; robotic manipulator; servo manipulation; symbolic artificial intelligence world; symbolic control; symbolic manipulation; Artificial neural networks; Control systems; Humans; Intelligent control; Intelligent robots; Manipulators; Neural networks; Neuromorphics; Robot control; Servomechanisms;

fLanguage

English

Publisher

ieee

Conference_Titel

Neural Networks, 1991. 1991 IEEE International Joint Conference on

Print_ISBN

0-7803-0227-3

Type

conf

DOI

10.1109/IJCNN.1991.170389

Filename

170389