Motion control apparatus with function to self-form a series of

Details Motion control apparatus with function to self-form a series of Motion control apparatus with function to self-form a series of

1989-11-15

1991-11-05

Smith, Jerry

Boots, shoes, and leggings

364513, G06F 1546

Patent

active

050634925

ABSTRACT:
A motion control apparatus having a control circuit inputted with a current state of an object to be controlled and outputting a motion quantity, includes a first unit for changing the value of a motion quantity by adding a randomly variable quantity to the motion quantity; a second unit for quantifying, by using an evaluation function, the merit of change in the current state of an object caused by application of the changed motion quantity to the object; a third unit for calculating an optimum motion quantity on the basis of the changed motion quantity if the evaluation function value determined by the second unit is "positive", and on the basis of the changed motion quantity multiplied by -1 if the evaluation function value is "negative"; and a fourth unit for correcting the values of transformation parameters of the control circuit so that an output of the control circuit takes a value nearer to the optimum motion quantity calculated by the third unit than the motion quantity now being outputted from the control circuit.

REFERENCES:
patent: 4810946 (1989-03-01), Sweeney, Jr.
patent: 4852018 (1989-07-01), Grossberg et al.
patent: 4884216 (1989-11-01), Kuperstein
"System for Self-Forming Motion Pattern", by Nakano and Douyani, 23rd SICE Scientific Lecture Preliminary Papers 51-3, 7/84.
"Manipulator Control by Inverse-Dynamics Model Learned in Multi-Layer Neural Network", by Setoyama, Kawato and Suzuki, The Institute of Electronics, Information and Communication Engineers of Japan, ME and BIO-Sybernetics, Technical Report, MBE87-135.

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