TY  - BOOK
AB  - While internal models are a prerequisite for
higher-level function, they have to be grounded in lowerlevel
function serving sensorimotor control. In this paper we
introduce an internal body model for the control of a hexapod
walker. The internal model deals with a highly complex robotic
structure of 22 degrees of freedom and coordinates the single
joint movements to achieve an overall stable and adaptive
walking behavior. It is implemented as a hierarchical recurrent
neural network consisting of different levels of abstraction
which are tightly intertwined. We demonstrate the feasibility
of the concept by applying the model to a simulated robot
and show how the different levels of the body model interact
and how this allows to scale the model even further. While
the internal model is used in this context explicitly for motor
control, it is also a predictive model and can be applied for
sensor fusion. We discuss how in this way such an internal
model offers the flexibility to be utilized in motor control and
to be used for planning ahead by a cognitive expansion of the
movement controller.
DA  - 2012
DO  - 10.1109/iros.2012.6385709
LA  - eng
PY  - 2012
TI  - Grounding an internal body model of a hexapod walker - Control of curve walking in a biological inspired robot
UR  - https://nbn-resolving.org/urn:nbn:de:0070-pub-25500496
Y2  - 2024-11-22T03:43:21
ER  -