Brain-like functor control machine for general humanoid biodynamics

Vladimir Ivancevic and Nicholas Beagley

International Journal of Mathematics and Mathematical Sciences, 2005, vol. 2005, 1-21

Abstract:

A novel, brain-like, hierarchical (affine-neuro-fuzzy-topological) control for biomechanically realistic humanoid-robot biodynamics (HB), formulated previously in [15, 16], is proposed in the form of a tensor-invariant, “meta-cybernetic” functor machine. It represents a physiologically inspired, three-level, nonlinear feedback controller of muscular-like joint actuators. On the spinal level, nominal joint-trajectory tracking is formulated as an affine Hamiltonian control system, resembling the spinal (autogenetic-reflex) “motor servo.” On the cerebellar level, a feedback-control map is proposed in the form of self-organized, oscillatory, neurodynamical system, resembling the associative interaction of excitatory granule cells and inhibitory Purkinje cells. On the cortical level, a topological “hyper-joystick” command space is formulated with a fuzzy-logic feedback-control map defined on it, resembling the regulation of locomotor conditioned reflexes. Finally, both the cerebellar and the cortical control systems are extended to provide translational force control for moving 6 -degree-of-freedom chains of inverse kinematics.

Date: 2005
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jijmms:171485

DOI: 10.1155/IJMMS.2005.1759

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