@article{d83f47ed9b454b12894a1020bc46c55f,
title = "Neural Network Control of a Pneumatic Robot Arm",
abstract = "A neural map algorithm has been employed to control a five joint pneumatic robot arm and gripper through feedback from two video cameras. The pneumatically driven robot arm employed in this investigation shares essential mechanical characteristices with skeletal muscle systems. To control the position of the arm, 200 neurons formed a netwrok representing the three-dimensional workspace embedded in a four dimensional system of coordinates from the two cameras, and learned a threee dimensional set of pressures corresponding to the end effector positions, as well as a set of 3X4 Jacobian matrices for interpolating between these positions.",
author = "Ted Hesselroth and Kakali Sarkar and Klaus Schulten and {van der Smagt}, {P. Patrick}",
note = "Funding Information: Manuscript received July 29. 1992; revised March 14, 1993. This work was supported by the Carver Charitable Trust. Funds for the robot system were provided by the Beckman Institute through the Capital Development Board of the University of Illinois. The computations were carried out in the National Institutes for Health Resource for Concurrent Biological Com-putings (Grant I-P41-RR05969-01). This work was supported in part by the Dutch Foundation for Neural Networks. T. Hesselroth is with the Department of Physics, University of lllinoih. Urbana-Champaign, 1L 61801. K. Sarkar is with the Department of Biophysics. University of Illinois. Urbana-Champaign. IL 61801. P. P. van der Smagt was with the Theoretical Biophysics Group, Beckman Institute for Advanced Science and Technology, University of Illinois, Urbana-Champaign. IL 61801. He is now with the Department of Mathematics and Computer Science. University of Amsterdam. Amsterdam, The Netherlands. K. Schulten is with the Department of Physics, University of Illinois, Urbana-Champaign, IL 61801. IEEE Log Number 9212927.",
year = "1994",
month = jan,
day = "1",
doi = "10.1109/21.259683",
language = "English (US)",
volume = "24",
pages = "28--38",
journal = "IEEE Transactions on Systems, Man and Cybernetics",
issn = "0018-9472",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "1",
}