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Neurons.png Cube3.png

Paper reference

  • Avinash Ranganath, Juan Gonzalez-Gomez, Luis Moreno Lorente (2011), "A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations", Book chapter (VII), ISBN: 978-84-7484-238-8. Centro de automática y Robótica CSIC-UPM, pp. 129-144.


Artificial Neural Networks (ANNs) are well known for oscillatory output when in a closed loop with the feedback from the system it is controlling. Here we propose a new neural controller for locomotion in linear modular robotic configurations, based on oscillatory output from simple ANNs. We investigate two different methods for controlling the action of each module based on the neural output, and also evolve neural controllers which have the ability to overcome external perturbations. We use a standard Genetic Algorithm (GA) for optimizing the synaptic weights of the ANN



Avinash-et-at-MR-ANN-Robocity-May2011.pdf Paper (PDF)
on-line Paper On-line
Avinash-et-at-MR-ANN-Robocity-May2011.odt Paper sources (Openoffice 3.2) Paper figures (SVG)
Avinash-et-at-MR-ANN-Robocity-May2011-slides.pdf Slides, in PDF
Avinash-et-at-MR-ANN-Robocity-May2011-slides.odp Slides, in Openoffice format (ODP)
on-line Read the Slides on-line in Scribd


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Direct link to the video in youtube
Locomotion of the Cube3 and Minicube-I
modular robots with sinusoidal oscillators



  • 2011/Jun/8th: This page is published!