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Nesting, safety, layering, and autonomy: a coordinated computational intelligence (CCI) approach to folding legged robot locomotion and gymnastic training

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1 Author(s)
Zhang, W.-R. ; Dept. of Comput. Sci., Lamar Univ., Beaumont, TX, USA

A coordinated computational intelligence (CCI) approach is presented for folding-legged robot locomotion and gymnastics. The new approach is based on the hypotheses that (1) the human cerebellum consists of a school of semiautonomous neural-fuzzy cerebellar agents coordinated by common sense cerebellar motion laws; and (2) agents can learn individually and learned agents can discover new agents and cerebellar laws. Based on the CCI theory, a multiagent cerebellar architecture, MAC-J, is extended from 3-link uniped locomotion control to 4-link uniped locomotion control and from locomotion control to gymnastic training. Basic ideas are illustrated with a 4-link uniped simulation The principle of “increasing intelligence with decreasing precision” in hierarchical control is extended to four principles for the nesting, safety, layering and autonomy of cerebellar agents

Published in:

Intelligent Control, 1996., Proceedings of the 1996 IEEE International Symposium on

Date of Conference:

15-18 Sep 1996