Multimodal Recurrent Neural Network (MRNN) Based Self Balancing System: Applied into Two-Wheeled Robot

Abstract

Biologically inspired control system is necessary to be increased. This paper proposed the new design of multimodal neural network inspired from human learning system which takes different action in different condition. The multimodal neural network consists of some recurrent neural networks (RNNs) those are separated into different condition. There is selector system that decides certain RNN system depending the current condition of the robot. In this paper, we implemented this system in pendulum mobile robot as the basic object of study. Several certain number of RNNs are implemented into certain different condition of tilt robot. RNN works alternately depending on the condition of robot. In order to prove the effectiveness of the proposed model, we simulated in the computer simulation Open Dynamic Engine (ODE) and compared with ordinary RNN. The proposed neural model successfully stabilize the applied robot (2-wheeled robot). This model is developed for implemented into humanoid balancing learning system as the final object of study.