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8/6/2019 Slides: A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
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A Distributed Neural Controller for Locomotionin Linear Modular Robotic Configurations
Avinash Ranganath, Juan Gonzlez-Gmez,Luis Moreno Lorente
Robotics LabUniversidad Carlos III de Madrid
30/May/2011
9 Workshop - Robots colabativos e interaccinHumano-Robot - Robocity 2030-II
CAR, E.T.S. de Ingenieros Industriales, Madrid.
8/6/2019 Slides: A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
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Index
A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
1. Introduction
2. Robotic platform
3. Proposed model4. Evolution
5. System 1
6. System 2
7. Fault tolerance
8. Conclusion
Index
8/6/2019 Slides: A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
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3A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
1. Introduction
8/6/2019 Slides: A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
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Sinusoidal Oscillator
A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
1. Introduction
it = A i sin
2
T t
iO
i
Sinusoidal Oscillator:
8/6/2019 Slides: A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
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Objective
A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
1. Distributed
2. Homogeneous
3. Adaptive
4. Fault tolerant
1. Introduction
8/6/2019 Slides: A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
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Y1 in OpenRAVE
A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
2. Robotic platform
8/6/2019 Slides: A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
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Neural Controller
A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
3. Proposed model
Input layer : 1-2: Connector information 3: Feedback from self
actuator 4-5: Feedback from
neighbouring module'sactuator
Hidden layer : One hidden layer with five
hidden neurons Output layer :
One output neuronconnected to the actuator
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Evolution
A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
4. Evolution
Genetic Algorithm Roulette Wheel selection method Intermediate Recombination method Fitness: Displacement measured as euclidean distance from origin Evaluation time: 50 seconds.
Parameters Values
Population size 50
Generations 100
Crossover percentage 50%
Elite population retained 12.5%
Mutation rate 1/Size of genome
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Frequency controlled method
A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
5. System 1
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Frequency controlled method
A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
5. System 1
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Frequency adaptive method
A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
6. System 2
Where,
: Output from the ANN
: Angle of the actuator attime ti
and x are constants.
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12A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
6. System 1
Frequency adaptive method
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13A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
6. System 1
Frequency adaptive method
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14A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
7. Fault tolerance
Limit cycle behaviour
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Conclusion
8. Conclusion
Proposed model validated for locomotory oscillations. Fault tolerance with limit cycle behaviour. Fast convergence to optimal oscillatory pattern.
Future work
Validate this model on the real Y1 modular robots. Adaptive behaviour for locomotion on different surfaces
Evolve the topology to both complexify and to find the minimal neuralarchitecture.
A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
8/6/2019 Slides: A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations
16/16
A Distributed Neural Controller for Locomotionin Linear Modular Robotic Configurations
Avinash Ranganath, Juan Gonzlez-Gmez,Luis Moreno Lorente
Robotics LabUniversidad Carlos III de Madrid
30/May/2011
9 Workshop - Robots colabativos e interaccinHumano-Robot - Robocity 2030-II
CAR, E.T.S. de Ingenieros Industriales, Madrid.
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