TY - JOUR 
A1 - Martínez Álvarez, José Javier
AU - Guerrero González, Antonio
AU - Pedreño Molina, Juan Luis
AU - Villaescusa Fernández, Antonio
AU - Ferrández Vicente, José Manuel
AU - López Coronado, Juan
T1 - Hardware implementation of a controller based on neurobiological adaptive models of the human motor-control system
Y1 - 2002
UR - http://hdl.handle.net/10317/1616
AB - In this work, a neural structure has been implemented into a device based on the new trends in hardware integration, for motor-control In multisensorial anthropomorphic robotic systems. This implementation gives a solution to the problem of physic integration of biologically Inspired control hierarchies in a robotic head-arm installation for robotic reaching tasks. The complete architecture has been implemented on an electronic board connected to a PC computer through a PCI interface. The hardware structure consists of two blocks: one for the working phase of the system, and the other for the learning and supervision phase of the system. These two blocks have been implemented with different technologies based on DSP processors and FPGAs. The algorithms implemented on DSPs have the function of updating the neural network on the FPGA, supervising the working of the algorithm implemented on FPGA and introducing corrections when the neural network produces results with little errors. The neural network has been implemented on FPGA and implements spatial-motor transformations of the robotic platform. It is programmed and updated by the supervisor implemented on a DSP processor
KW - Arquitectura y Tecnología de Computadoras
KW - Ingeniería de Sistemas y Automática
KW - Teoría de la Señal y las Comunicaciones
KW - Neurocontroller
KW - Robotic
KW - Neural device
KW - Neurocontrolador
KW - Robótica
KW - Dispositivos neuronales
LA - eng
PB - Institute Electrical and Electronics Engineers (IEEE)
ER -