A.V. Bakhshiev
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Senior Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(921)748-00-10, This email address is being protected from spambots. You need JavaScript enabled to view it.
F.V. Gundelakh
RTC, Programmer, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(904)636-47-32, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
While solving the problems of biologically-like motion control systems development, models of neurons and neural networks are required to reproduce the processes of pulsed streams transformation in the neuron and all the way to convert the signal from the input to the output of the neuron. It seems the most important to save accordance of the structure of connections between neurons, and in the properties of the information streams transformation for each neuron of the network. The paper contains a description of hierarchical neural networks model which is based on biologically plausible neuron model and provides storage and subsequent reproduction of system configurations with the example of two-link manipulator. The architecture of the neural network and the principles of learning are described here. The results of the accuracy characteristics analysis for such neural networks are presented.
Key words
Neural networks, motion control, bionics, muscle memory, modeling, neuron model.
Year 2015 Issue number 3 Consecutive issue number 8 Pages 46-51
UDC identifier: 004.942:004.896:004.383.8
