2008年3月
Using Chaos to trade synchronization and autonomy in a dancing robot
IEEE Intelligent Systems
- ,
- ,
- 巻
- 23
- 号
- 2
- 開始ページ
- 80
- 終了ページ
- 82
- 記述言語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1109/MIS.2008.22
Building basic dynamics is proposed into the robot through a special type of chaos and letting behavior emerge in autonomous manner. Chaotic itinerancy (CI) is the most common feature in the high-dimensional chaotic systems and in the system, an orbit wanders through a succession of low-dimensional ordered states. CI has been proposed to model exploratory strategies in the living systems, including attachment and detachment mechanisms in conscious states. Robot motor command in real-time is generated by converting the output from a neural network that processes a pulse sequence corresponding to the musical beats. The biologically inspired FitzHugh-Nagumo model in the network controls the spiking behavior of individual neurons that is a coupled system of fast variable responsible for the excitation of membrane potential and a slow variable controlling the membrane's refractory state and the network's output layer integrates the spike train of a selected part of a neuron.
- リンク情報
- ID情報
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- DOI : 10.1109/MIS.2008.22
- ISSN : 1541-1672
- SCOPUS ID : 41549101731