Hierarchical intelligent control for robotic motions-hybrid neuromorphic and symbolic control

T. Shibata, T. Fukuda, K. Kosuge, F. Arai, M. Tokita, T. Mitsuoka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a new scheme for intelligent control of robotic manipulators. This scheme is an integrated approach of the neuromorphic and symbolic control of robotic manipulators, including the applied neural network for the servo control and the knowledge based approximation. Therefore, this scheme has a hierarchical structure, and is known as 'hierarchical intelligent control'. The neural network in the servo control level is the numerical manipulation, while the knowledge based part is the symbolic manipulation. In the neuromorphic control, the neural network compensates the nonlinearity of the system and the uncertainty in environment. The knowledge base part makes control strategy symbolically for the servo level. This is an analogous control system to the human cerebral control structure.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages236-240
Number of pages5
ISBN (Electronic)0780300424
DOIs
Publication statusPublished - 1992 Jan 1
Externally publishedYes
Event1992 IEEE International Symposium on Industrial Electronics, ISIE 1992 - Xian, China
Duration: 1992 May 251992 May 29

Publication series

NameIEEE International Symposium on Industrial Electronics

Conference

Conference1992 IEEE International Symposium on Industrial Electronics, ISIE 1992
CountryChina
CityXian
Period92/5/2592/5/29

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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    Shibata, T., Fukuda, T., Kosuge, K., Arai, F., Tokita, M., & Mitsuoka, T. (1992). Hierarchical intelligent control for robotic motions-hybrid neuromorphic and symbolic control. In Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992 (pp. 236-240). [279579] (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.1992.279579