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Publicatie

A discrete/rhythmic pattern generating RNN

Boekbijdrage - Boekhoofdstuk Conferentiebijdrage

Biological research supports the concept that advanced motion emerges from modular building blocks, which generate both rhythmical and discrete patterns. Inspired by these ideas, roboticists try to implement such building blocks using different techniques. In this paper, we show how to build such module by using a recurrent neural network (RNN) to encapsulate both discrete and rhythmical motion patterns into a single network. We evaluate the proposed system on a planar robotic manipulator. For training, we record several handwriting motions by back driving the robot manipulator. Finally, we demonstrate the ability to learn multiple motions (even discrete and rhythmic) and evaluate the pattern generation robustness in the presence of perturbations.
Boek: Proceedings of the 20th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning
Pagina's: 567 - 572
ISBN:9782874190476
Jaar van publicatie:2012
Toegankelijkheid:Open