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

  • Jih-Gau Juang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4221)


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.


Cost Function Energy Criterion Hide Unit Reference Trajectory Angle Error 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Jih-Gau Juang
    • 1
  1. 1.Department of Communications and Guidance EngineeringNational Taiwan Ocean UniversityKeelungTaiwan

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