Adaptive control of 2-wheeled balancing robot by cerebellar neuronal network model

  title={Adaptive control of 2-wheeled balancing robot by cerebellar neuronal network model},
  author={Yoshiyuki Tanaka and Yohei Ohata and Tomohiro Kawamoto and Yutaka Hirata},
  journal={2010 Annual International Conference of the IEEE Engineering in Medicine and Biology},
A new adaptive motor controller was constructed, and tested on the control of a 2-wheeled balancing robot in simulation and real world. The controller consists of a feedback (PD) controller and a cerebellar neuronal network model. The structure of the cerebellar model was configured based upon known anatomical neuronal connection in the cerebellar cortex. Namely it consists of 120 granular (Gr) cells, 1 Golgi cell, 6 basket/stellate cells, and 1 Purkinje (Pk) cell. Each cell is described by a… CONTINUE READING
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