Sensor Actuator Network Michiel van de Panne Eugene Fiume - PowerPoint PPT Presentation

Nov 13, 2022 •27 likes •227 views

Sensor Actuator Network Michiel van de Panne Eugene Fiume SIGGRAPH 93 stochastic synthesis of controllers sensory based - no state information non-linear network of weighted connections between a small number of binary sensors and actuators

Sensor Actuator Network Michiel van de Panne Eugene Fiume SIGGRAPH 93
stochastic synthesis of controllers sensory based - no state information
non-linear network of weighted connections between a small number of binary sensors and actuators (muscles) internal delays - for dynamic properites determine parameters to get desired behavior generate and test further optimization to refine controllers
planar dynamics in vertical plane proportional-erivative controllers for forces & torques binary sensor values rigid links
need fast dynamics simulator creatures are free bodies in space external ground forces use stiff spring & dampers friction, wind, viscosity are used
weighted connections in range -2:2 fully connected nodes # of hidden nodes usually = # sensor nodes
time delay fires ‘1’ if weighted input is positive
Phase 1: random generate & test evaluation metric ‘distance traveled’ for most examples can incorporate other terms average height not falling over tracking of a point-to-follow
Phase 2: Fine tuning non-linear stochatic gradient ascent or simulated annealing

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