Cerebellar Modelling Techniques for Mobile Robot Control in a Delayed Sensory Environment.
Speaker: David Collins, (speaker organisation unavailable)
When: 2003-10-23 15:00:00
Venue: 78-420
Host: A/Prof Janet Wiles
Abstract:Fast and accurate movement control for a system exhibiting
significant feedback delay is traditionally a difficult problem to
solve. In biological systems, it is thought that a part of the brain
called the cerebellum overcomes such difficulties. This presentation
outlines the use of three cerebellar learning techniques (CEL, TEL
and SEL) used to overcome the effects of sensory delay in the
control of a simulated mobile robot. All models use Albus's CMAC
neural network as the central adaptive element.
The three models are able to control the robot during a
high-accuracy coordinated kicking manoeuvre, despite significant
feedback delay. The Command Error Learning (CEL) technique achieves
this by learning commands provided by a skilled teaching module. The
Trajectory Error Learning (TEL) model evolves it's own commands
given a desired trajectory profile and the State Error Learning
(SEL) architecture learns to predict the actual (non-delayed) state
of the robot, for use by a conventional feedback controller.
All models produced trajectories equal to or better than the
non-delayed, conventional feedback controller. When used in the
presence of feedback delay, several interesting properties which
equate well with biological evidence were observed.
Biography:David Collins received a B.E. (Hons I) in Computer Systems
Engineering from the University of Queensland in 1996 and is in the
final stages of his PhD at the University of Queensland. He expects
to graduate in December 2003. His research interests include
Robotics, Machine Learning, Control Systems and Neuroscience. His
thesis investigates methods of overcoming sensory delay in control
systems, by using predictive control techniques inspired by the
biology of the human cerebellum. David is currently working as a
consulting engineer.
Type: ITEE Seminar
Contact:A/Prof Janet Wiles, seminar host (janet@itee.uq.edu.au)
or Guido Governatori (ITEE seminar co-ordinator)
(guido@itee.uq.edu.au)