Sensorimotor Self-Learning Model Based on Operant Conditioning for Two-Wheeled Robot

来源 :Journal of Shanghai Jiaotong University(Science) | 被引量 : 0次 | 上传用户:q251208414
下载到本地 , 更方便阅读
声明 : 本文档内容版权归属内容提供方 , 如果您对本文有版权争议 , 可与客服联系进行内容授权或下架
论文部分内容阅读
Traditional control methods of two-wheeled robot are usually model-based and require the robot’s precise mathematic model which is hard to get. A sensorimotor self-learning model named SMM TWR is presented in this paper to handle these problems. The model consists of seven elements: the discrete learning time set, the sensory state set, the motion set, the sensorimotor mapping, the state orientation unit, the learning mechanism and the model’s entropy. The learning mechanism for SMM TWR is designed based on the theory of operant conditioning(OC), and it adjusts the sensorimotor mapping at every learning step. This helps the robot to choose motions. The leaning direction of the mechanism is decided by the state orientation unit. Simulation results show that with the sensorimotor model designed, the robot is endowed the abilities of self-learning and self-organizing,and it can learn the skills to keep itself balance through interacting with the environment. Traditional control methods of two-wheeled robot are usually model-based and require the robot’s precise mathematic model which is hard to get. A sensorimotor self-learning model named SMM TWR is presented in this paper to handle these problems. the learning mechanism for the SMM TWR is designed based on the theory of operand conditioning OC), and it adjusts the sensorimotor mapping at every learning step. This helps the robot to choose motions. The leaning direction of the mechanism is decided by the state orientation unit. Simulation results show that with the sensorimotor model designed, the robot is endowed the abilities of self-learning and self-organizing, and it can learn the skills to keep itself balance through interacting with the environment.
其他文献
通信市场的改革和发展,增加了通信建设市场的饱和度,因为如此,中国通信建设行业的发展已进入市场竞争时期,越来越严峻的形势已经成了通信工程施工企业所面临的一大挑战.在当
我是一条野犬,游荡于都市街头,偶尔穿堂入室,以本能的嗅觉,找到属于自己的影像。时间在上海的巷弄间流淌,每个人的故事被分隔在七日与七日之间。那些片段和瞬间因为被定格,所
简介rn赏析只是在Internet的时代,才会有免费占领市场的商业逻辑,过去并没有.大概是互联网中,复制成本极低但要引起人们的注意力却很难,商业初期投资巨大,一旦成功后被替换的
采用ANSYS软件对不同工艺参数下钛合金TC4筒形件的强力旋压过程进行了模拟,获得了成形角、减薄率、进给率等工艺参数对等效应力和旋压力的影响规律,为TC4旋压工艺参数的选择
现代社会随着电脑的发展和普及,电脑办公已经是人们必备的技能,尤其是办公软件的应用更是普遍,人们常常用 Word、Excel 等 编辑文字、图表,简便的鼠标操作给大家带来了方便.
期刊
主要讲述在Windows平台下利用IP Helper API和发送ARP数据报来编程实现IP地址的自动添加.以及对局域网中正在使用的IP地址的扫描,和获得该主机的MAC地址.
针对发动机壳体零件的特点,分析了其热挤压成形工艺,并利用数值模拟软件,确定了发动机壳体的挤压成形方式,同时分析了初始变形温度,变形速度对最大成形载荷的影响;通过多次模
简介rn颈椎病、腰椎病困扰了大批上班族和老年人,严重影响了生活质量和幸福指数.但脊椎的重要性却没几个人知道:眩晕、高血压、视物模糊、耳聋、耳鸣、失眠、气短、消化不良
市场经济的不断深入,加快了全球化的进程,充分发挥了国内外市场的经济潜力.国内的通信市场在本国发展的形式比较稳定,对于拓宽国际市场仍然需要很多努力.国内的企业要想在激
期刊
攀枝花市国资委围绕“五防止”,认真开展“五心教育”,把作风整顿这一活动延伸到机关全体党员干部职工的思想、工作和生活各个方面,确保作风整顿活动见实效。一是做到对党忠