IJS KOLOKVIJ, 19. 11. 2008, prof. Florentin WÖRGÖTER

[Andreja Berglez]

Vabim vas na 4. predavanje iz sklopa "Kolokviji na IJS" v letu 2008/09, ki
bo v sredo, 19. novembra 2008, ob 13:00 uri v Veliki predavalnici Instituta
>Jožef Stefan< na Jamovi cesti 39 v Ljubljani. Napovednik predavanja najdete
tudi na naslovu http://www.ijs.si/ijsw/Koledar_prireditev, posnetke
preteklih predavanj pa na http://videolectures.net/kolokviji_ijs. 

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
prof. Florentin Wörgöter

Bernstein Center for Computational Neuroscience, Göttingen, Nemčija

 

 

Adaptivno nevronsko krmiljenje robotskih sistemov

Standardne metode robotskega krmiljenja, na primer PID regulatorji, imajo
več neželenih lastnosti kot so togost, neprilagodljivost in nezmožnost
reagiranja na nove situacije. V tem predavanju bom predstavil dvonožni
robotski mehanizem RunBot, ki deluje po principih nevronskega krmiljenja. V
predlaganem sistemu so senzorične informacije obdelane s pomočjo nevronske
mreže, ki proizvaja motorične signale direktno iz vrednosti nevronskih
elementov. Robotski mehanizem pri tem razvije hiter in gibčen korak, ki ga
lahko s pomočjo simulirane nevronske plastičnosti prilagodi na nove
situacije. Z uporabo teorije robotskega krmiljenja lahko potem pokažemo, da
robot na ta način pridobi inverzni model, ki je primeren za krmiljenje. V
splošnem lahko teorijo zaprtozančnega robotskega krmiljenja uporabimo za
boljše razumevanje interakcije med robotom in njegovo okolico. V drugem delu
predavanja bom zato obravnaval zahtevnejše probleme kot je dvonožna hoja in
predstavil nekatere hipoteze o kompleksnih kognitivnih nalogah, ki jih
morajo roboti in živali (opice, ljudje) reševati, ko s svojim delovanjem
spreminjajo svoj svet.

Predavanje bo v angleščini.

Lepo vabljeni!

***

 

We would like to invite you to 4th lecture of the "Kolokvij na IJS" in the
school year 2008/09. The lecture will be held on Wednesday, November 19,
2008, at 1 pm at JSI main lecture hall, Jamova 39, Ljubljana. The abstract
of the lecture can be found on website:
<http://www.ijs.si/ijsw/Koledar_prireditev>
http://www.ijs.si/ijsw/Koledar_prireditev, the previous recorded lectures
can be found on website:  <http://videolectures.net/kolokviji_ijs>
http://videolectures.net/kolokviji_ijs. 

********************************************

prof. Florentin Wörgöter

Bernstein Center for Computational Neuroscience, Göttingen, Nemčija

 

Robots under Adaptive Neural Control

 

Conventional robot control, for example using PID controllers, often leads
to unwanted properties, because these controllers are stiff, inflexible, and
cannot easily adapt ("learn") to new situations. Here we will show a small
biped robot RunBot, which operates under neuronal control, where signals
from sensors are being processed by a network to create motor-control
signals directly from neuronal elements. The little machine thereby develops
a fast and flexible dynamic walking gait and can adapt by ways of simulated
neuronal plasticity to new situations. One can now employ control theory and
we can show that synaptic plasticity in this case leads to the learning of
an inverse controller model. Closed-loop (system theory) can in general be
used to better understand the interactions between a robot and its world. At
the end of the talk we would therefore like to leave walking-control behind
and instead discuss some more speculative notions about how cognitive
complexity arises from the way robots and animals (monkeys, humans)
influence their environment by own actions.

 

We look forward to meeting you at the "Kolokvij na IJS"!

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