By Giancarlo Fortino; Raffaele Gravina; Stefano Galzarano
Wiley-IEEE Press Books
A recurrent network is proposed which can be used as a manipulable body model to solve different kinematic tasks as the inverse kinematic problem, the direct kinematic problem or any mixed problem. The model may be used for planning a movement, or “thinking” by being uncoupled from the motor output, or it may be used for direct motor control. The network is based on a new type of neuronal network called MMC net which is similar to but shows some essential differences to the Hopfield type network. These are (1) no symmetrical weights are necessary in the MMC net. (2) Furthermore, no clipping functions are necessary which allows for real valued outputs. (3) No limited number of discrete attractors. but an infinite number of attractors v,hich form a continuum are possible in the MMC network.