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Contribution Details
| Type | Conference or Workshop Paper |
| Scope | Discipline-based scholarship |
| Published in Proceedings | Yes |
| Title | How to Harness the Dynamics of Soft Body: Timing Based Control of a Simulated Octopus Arm via Recurrent Neural Networks |
| Organization Unit | |
| Authors |
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| Presentation Type | paper |
| Item Subtype | Original Work |
| Refereed | Yes |
| Status | Published in final form |
| Language |
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| Page Range | 246 - 247 |
| Event Title | the 2nd European Future Technologies Conference and Exhibition 2011 (FET 11) |
| Event Type | conference |
| Event Location | Budapest |
| Event Start Date | May 4 - 2011 |
| Event End Date | May 6 - 2011 |
| Place of Publication | Procedia Computer Science |
| Publisher | Elsevier |
| Abstract Text | The aim of this study is to explore a control architecture that facilitates the control of a soft and flexible octopus-like arm. Inspired by the division of functionality between the central and peripheral nervous systems of a real octopus, we note that the important requirement for control is not to regulate the arm muscles one by one but rather to control them collectively with the appropriate timing. In order to realize this timing-based control, we propose an architecture that is equipped with a recurrent neural network (RNN) and then we determine the performance of its reaching behavior. To train the network, we introduce an incremental learning strategy that is capable of taking the body's dynamics into account. As a result, we show that the RNN can successfully accomplish the reaching behavior by exploiting the physical dynamics of the arm due to the timing-based control. |
| Official URL | http://www.sciencedirect.com/science/article/pii/S1877050911006053 |
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