Quick Search:

uzh logo
Browse by:
bullet
bullet
bullet
bullet

Zurich Open Repository and ArchiveĀ 

Permanent URL to this publication: http://dx.doi.org/10.5167/uzh-55681

Nakajima, Kohei; Li, Tao; Kuppuswamy, Naveen Suresh; Pfeifer, Rolf (2011). Harnessing the dynamics of a soft body with "Timing": Octopus inspired control via recurrent neural networks. In: 15th International Conference on Advanced Robotics (ICAR), Tallinn, Estonia, 20 June 2011 - 23 June 2011, 277-284.

[img]Published Version
PDF - Registered users only
675Kb

Abstract

This study aims to explore a control architecture that enables the control of a soft and flexible octopus-like arm for an object reaching task. Inspired by the division of functionality between the central and peripheral nervous systems of a real octopus, we discuss that the important factor of the control is not to regulate the arm muscles one by one but rather to control them globally with appropriate timing, and we propose an architecture equipped with a recurrent neural network (RNN). By setting the task environment for the reaching behavior, and training the network with an incremental learning strategy, we evaluate whether the network is then able to achieve the reaching behavior or not. As a result, we show that the RNN can successfully achieve the reaching behavior, exploiting the physical dynamics of the arm due to the timing based control.

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
DDC:000 Computer science, knowledge & systems
Language:English
Event End Date:23 June 2011
Deposited On:13 Feb 2012 12:30
Last Modified:17 Oct 2012 07:24
Publisher:IEEE
ISBN:978-1-4577-1158-9
Publisher DOI:10.1109/ICAR.2011.6088590
Related URLs:http://www.icar2011.org
Other Identification Number:merlin-id:3684
Citations:Google Scholarā„¢

Users (please log in): suggest update or correction for this item

Repository Staff Only: item control page