DocumentCode :
693470
Title :
Brain-inspired modular controller with fuzzy module selection
Author :
Haghighi, H. ; Abdollahi, F. ; Gharibzadeh, S.
Author_Institution :
Dept. of Electr. Eng., Amirkabir Univ. of Technol. (Tehran Polytech.), Tehran, Iran
fYear :
2013
fDate :
28-30 Dec. 2013
Firstpage :
351
Lastpage :
354
Abstract :
Human capability in dealing with variant dynamic conditions and performing successive different tasks in usually non-stationary environments, has got the neuroscientists´ attention to discover the mechanism of human neural system which performs motion control. One of these studies, suggests a modular structure, MOSAIC, to learn and control variant dynamic conditions by switching multiple modules. In this paper, we present an easy understandable fuzzy mechanism to select appropriate module which is an important problem about the switching, according to the dynamic condition. Although there have been some extensions of original MOSAIC, the previously proposed approaches either result in unstable module switching or exploit biologically unjustifiable probabilistic methods. In addition to the fact that fuzzy approach is greatly compatible with human brain behavior, the simulation results show that fuzzy module selection outperforms the probabilistic approach used in original MOSAIC.
Keywords :
fuzzy control; humanoid robots; motion control; brain inspired modular controller; fuzzy module selection; human brain behavior; human capability; human neural system; motion control; nonstationary environments; switching multiple modules; Brain modeling; Computational modeling; Dynamics; Hidden Markov models; Predictive models; Probabilistic logic; Switches;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Instrumentation, and Automation (ICCIA), 2013 3rd International Conference on
Conference_Location :
Tehran
Type :
conf
DOI :
10.1109/ICCIAutom.2013.6912862
Filename :
6912862
Link To Document :
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