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Neural Preprocessing and Control of Reactive Walking Machines

Part of the Cognitive Technologies Book Series

DOI: 10.1007/978-3-540-68803-7

ISBN: 978-3-540-68802-0

Publisher: Springer Berlin Heidelberg - Springer Journals

Jan 1, 2007

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Introduction

Pages: 1 –12

[Research in the domain of biologically inspired walking machines has been ongoing for over 20 years [59, 166, 190, 199, 207]. Most of it has focused on the construction of such machines [34, 47, 216, 223], on a dynamic gait control [43, 117, 201] and on the generation of an advanced locomotion...
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Biologically Inspired Perception-Action Systems

Pages: 13 –29

[Most of this book is devoted to creating and demonstrating so-called artificial perception-action systems inspired by biological sensing systems (perception) and animal behavior (action). Thus this chapter attempts to provide the biological background for understanding the approach taken in this...
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Neural Concepts and Modeling

Pages: 31 –45

[This chapter presents methods and tools which are to be used throughout this book. It starts with a short introduction to a biological neuron together with an artificial neuron which is followed by the comparison of network structures between feedforward and recurrent neural networks. Then the...
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Physical Sensors and Walking Machine Platforms

Pages: 47 –65

[This chapter describes the development of the physical components that lead to the artificial perception-action systems. It begins with the descriptions of different physical sensors which are used to sense environmental information, followed by the details of the walking machines simulated in a...
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Artificial Perception-Action Systems

Pages: 67 –111

[Where Chap. 2 investigated the biologically inspired perception-action systems, this chapter focuses on applying the principles of the biological domain to create artificial perception-action systems. First, several preprocessing units of different types of sensory signals are presented. They...
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Performance of Artificial Perception-Action Systems

Pages: 113 –145

[In order to test the capabilities of the artificial perception-action systems, several experiments were carried out. First, the signal processing networks were tested with the simulated signals and the real sensor signals. Afterwards the physical sensors, the neural preprocessing and the neural...
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Conclusions

Pages: 147 –150

[This book presents biologically inspired walking machines (four- and six-legged walking machines) interacting with their real environmental stimuli as agent-environment interactions. Different reactive behaviors of animals were investigated for the behavior design of the walking machine(s). On...

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