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Hybrid control architecture in bio-mimetic robot

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3 Author(s)
Linxiang Yang ; Dept. of Control Theor. & Control Eng., Tongji Univ., Shanghai ; Jiguang Yue ; Xiaoyun Zhang

The paper discussed a new control architecture for bio-mimetic robot, hybrid control architecture combines the best aspects of reactive and deliberative control and is proven to be the most suitable controller for autonomous bio-mimetic robots. The hybrid control architecture consist a command/coordinating level with computed discrete time map-based (DTM) neuronal networks and the central pattern generators with analog electronic neuron networks. The two technologies can be fused through a D/A interface.

Published in:

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Date of Conference:

25-27 June 2008