New strategy for hierarchical intelligent control of robotic manipulator-hybrid neuromorphic and symbolic control

Abstract

The authors present a novel scheme for intelligent control which is an integrated approach of the neuromorphic and symbolic control of a robotic manipulator, including an applied neural network (NN) for servo manipulation, while the knowledge-based part is symbolic manipulation. This control system is analogous to the human cerebral control structure. Experiments and simulations demonstrated that the NN can connect the numerical real world with the symbolic artificial intelligence world.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>