Kinematics in Robotics by the Morphogenetic Neuron

  • Germano Resconi
  • Alberto Borboni
  • Rodolfo Faglia
  • Monica Tiboni
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2178)


The paper, after some theoretical hints on the “morphogenetic neuron” proposes the use of this new technique to solve one of the most important themes in robotics, the manipulator kinematics structure representation and the following solution of the inverse kinematics problem. Even if the application has been completed and fully tested with success only on a two degrees of freedom SCARA robot, the first results here reported obtained on a more complex manipulator (spherical) seem to confirm the effectiveness of the approach.


Inverse Kinematic Polynomial Form Population Code Inverse Kinematic Problem Neural Unit 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Germano Resconi
    • 1
  • Alberto Borboni
    • 2
  • Rodolfo Faglia
    • 2
  • Monica Tiboni
    • 2
  1. 1.Mathematical DepartmentCatholic UniversityBresciaItaly
  2. 2.Mechanical Engineering DepartmentBrescia State UniversityBresciaItaly

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