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Article
Legged Robot Locomotion and Gymnastics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics (1998)
  • Wen-Ran Zhang, Lamar University
Abstract
The learning and control space of real-world autonomous agents are often many-dimensional, growing, and unbounded in nature. Such agents exhibit adaptive, incremental, exploratory, and sometimes explosive learning behaviors. Learning in adaptive neurofuzzy control, however, is often referred to as global training with a large set of random examples and a very low learning rate. This type of controller is not reorganizable; it cannot explain exploratory learning behaviors as exhibited by human and animal species. A theory of coordinated computational intelligence (CCI) is proposed in this paper which leads to a reorganizable multiagent cerebellar architecture for intelligent control. The architecture is based on the hypotheses that (1) a cerebellar system consists of a school of relatively simple and cognitively identifiable semiautonomous neurofuzzy agents; (2) autonomous control is the result of cerebellar agent fine-tuning and coordination rather than complicate computation; and (3) learning is accomplished via individual cerebellar agent learning and coordinated discovery in a learning-tuning-brainstorming process. Agent oriented decomposition and coordination algorithms are introduced; necessary and sufficient conditions are established for cerebellar agent discovery and common sense cerebellar motion law discovery. Nesting, safety, layering, and autonomy-four principles are analytically formulated for the reorganization of neurofuzzy agents.
Keywords
  • Legged robot locomotion,
  • Gymnastics,
  • Adaptive neurofuzzy control,
  • Coordinated computational intelligence,
  • CCI,
  • Neurofuzzy agents,
  • Intelligent control
Disciplines
Publication Date
June, 1998
DOI
10.1109/3477.678631
Citation Information
Wen-Ran Zhang. "Legged Robot Locomotion and Gymnastics" IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics Vol. 28 Iss. 3 (1998) p. 357 - 375
Available at: http://works.bepress.com/wen-ran_zhang/13/