摘要 |
<p>A movement trajectory generating system of a dynamical system uses neural network units (1, 2, 3) including cascade connection of a first layer (11, 21, 31), a second layer (12, 22 32), a third layer (13, 23, 33) and a fourth layer (14, 24, 34), to learn vector field of differential equations indicating forward dynamics of a controlled object (4). Conditions concerning trajectories of a final point and a via-point of movement of the controlled object and locations of obstacles are given from a motor center (5). While smoothness of movement is ensured by couplings of electric synapses using errors with respect to those conditions as total energy, least dissipation of energy is attained, whereby trajectory formation and control input for realizing the trajectory are obtained simultaneously.</p> |
申请人 |
ATR AUDITORY AND VISUAL PERCEPTION RESEARCH LABORATORIES |
发明人 |
KAWATO, MITSUO ATR AUDITORY AND VISUAL PERCEPTION;MAEDA, YOSHIHARU INT. INST. ADVANCED STUDY SOCIAL;UNO, YOJI C/O FACULTY OF ENGINEERING OF;SUZUKI, RYOJI C/O FACULTY OF ENGINEERING OF |