Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2006-04-04
2006-04-04
Black, Thomas G. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S247000, C700S248000, C700S249000, C700S250000, C700S251000, C700S252000, C700S253000, C318S568100, C318S568110, C318S568120, C318S568150, C318S568160, C318S568170, C318S568180, C701S023000, C901S001000
Reexamination Certificate
active
07024276
ABSTRACT:
Learning-type motion control is performed using a hierarchical recurrent neural network. A motion pattern provided through human teaching work is automatically time-serially segmented with the hierarchical recurrent neural network, and the motion control of a machine body is carried out with a combination of the segmented data, whereby various motion patterns can be produced. With the time-serial segmentation, local time-serial patterns and an overall pattern as a combination of the local time-serial patterns are produced. For those motion patterns, indices for static stability and dynamic stability of the machine body, e.g., ZMP stability criteria, are satisfied and hence control stability is ensured.
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Black Thomas G.
Marc McDieunel
Presson Thomas F.
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