초록 ▼

A movement trajectory generating system of a dynamical system uses neural network units (1, 2, 3) including cascade connection of a first layer (11, 21, 31), a second layer (12, 22, 32), a third layer (13, 23, 33) and a fourth layer (14, 24, 34), to learn a vector field of differential equations ind

A movement trajectory generating system of a dynamical system uses neural network units (1, 2, 3) including cascade connection of a first layer (11, 21, 31), a second layer (12, 22, 32), a third layer (13, 23, 33) and a fourth layer (14, 24, 34), to learn a vector field of differential equations indicating forward dynamics of a controlled object (4). Conditions concerning trajectories of a final point and a via-point of movement of the controlled object and locations of obstacles are given from a motor center (5). While smoothness of movement is ensured by couplings of electric synapses using errors with respect to those conditions as total energy, least dissipation of energy is attained, whereby trajectory formation and control input for realizing the trajectory are obtained simultaneously.

대표청구항 ▼

A method for generating a time trajectory of a controlled object comprising the steps of: generating said time trajectory of said controlled object in a network by using conditions for estimating the movement trajectory comprising at least one of a movement time, a start point, an end point and a vi

A method for generating a time trajectory of a controlled object comprising the steps of: generating said time trajectory of said controlled object in a network by using conditions for estimating the movement trajectory comprising at least one of a movement time, a start point, an end point and a via-point of the trajectory, and obstacles to the movement; and using a criterion for ensuring smoothness of the movement trajectory by minimizing evaluation functions in integration for a movement time obtained by square of a function of movement comprising at least one of the third derivative of position with respect to time, time change of torque, and time change of force.