Hybrid symbolic and neuromorphic control for hierarchical intelligent control

Takanori Shibata, Toshio Fukuda, Kazuhiro Kosuge, Fumihito Arai, Masatoshi Tokita, Toyokazu Mitsuoka

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

3 Citations (Scopus)

Abstract

The authors present a scheme for intelligent control of robotic manipulators. This is a hybrid system of neuromorphic control and symbolic control of a robotic manipulator, including a neural network for the servo control and a knowledge-based approximation. The neural network in the servo control level is for numerical manipulation, while the knowledge-based approximation is for symbolic manipulation. In neuromorphic control, the neural network compensates for the nonlinearity of the system and the uncertainty in the environment. The knowledge base develops the 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 - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages2081-2086
Number of pages6
ISBN (Print)0818627204
Publication statusPublished - 1992 Dec 1
Externally publishedYes
EventProceedings of the 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: 1992 May 121992 May 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3

Other

OtherProceedings of the 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period92/5/1292/5/14

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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