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Effects of Using Different Neural Network Structures and Cost Functions in Locomotion Control

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Advances in Natural Computation (ICNC 2006)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 4221))

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Abstract

Effects of using different neural network structures and cost functions in locomotion control are investigated. Simulations focus on refinement and a thorough understanding of an artificial intelligent learning scheme. This scheme uses a neural network controller with backpropagation through time learning rule. Through learning, the controller can generate locomotion trajectory along a pre-defined path. Different issues regarding the scheme have been examined. They include the effects of using different numbers of hidden units, the effects of using only angle parameters in the cost function, and the effects of including an energy criterion in the cost function.

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Author information

Authors and Affiliations

  1. Department of Communications and Guidance Engineering, National Taiwan Ocean University, Keelung, 20224, Taiwan

    Jih-Gau Juang

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  1. Jih-Gau Juang
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Editor information

Editors and Affiliations

  1. Life Science Research Center, School of Electronic Engineering, Xidian University, 710071, Xi’an, Shaanxi, China

    Licheng Jiao

  2. School of Electrical and Electronic Engineering, Nanyang Technological University, Block S1, Nanyang Avenue, 639798, Singapore

    Lipo Wang

  3. School of Electronic Engineering, Xidian Univ., 710071, Xi’an, P.R. China

    Xin-bo Gao

  4. College of Mathematics and Information Science, Hebei Normal University, 050016, Shijiazhuang, Hebei, P.R. China

    Jing Liu

  5. Multi-Agent Systems Lab,Department of Computer Science, University of Science and Technology of China, 230026, Hefei, China

    Feng Wu

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© 2006 Springer-Verlag Berlin Heidelberg

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Juang, JG. (2006). Effects of Using Different Neural Network Structures and Cost Functions in Locomotion Control. In: Jiao, L., Wang, L., Gao, Xb., Liu, J., Wu, F. (eds) Advances in Natural Computation. ICNC 2006. Lecture Notes in Computer Science, vol 4221. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11881070_60

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  • DOI: https://doi.org/10.1007/11881070_60

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-45901-9

  • Online ISBN: 978-3-540-45902-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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