Robot control algorithm constructing apparatus, robot control algorithm constructing program storage medium, robot controller, robot control program storage medium, and robot

The robot control algorithm constructing apparatus according to claim 15, wherein the coefficient value determination section determines the coefficient values of the partial network by determining the coefficient value of each unit network in succession from a unit network outputting a unit signal corresponding to lower degree term to a unit network outputting a unit signal corresponding to higher degree term among plural unit networks making up the partial network, when the partial network that is the combination of the plural unit networks is generated by the control algorithm generation section.

A robot controller that controls the operation of a robot having at least one joint connecting two members to make the relative position or attitude between the two members variable, comprising:

• a control algorithm storage section that generates a control algorithm constructed by a recurrent neural network having plural neurons to produce an output with an analogue lag including a zero lag based on an input and including at least one lag neuron to produce an output with an analogue lag excluding a zero lag in the plural neurons, in which there is a loop of signal flow;
• and
• a robot control section that controls the robot of control object employing a control signal generated based on the control algorithm stored in the control algorithm storage section.

A robot control program storage medium storing a robot control program that is executed in an information processing apparatus performing a program and enables the information processing apparatus to operate as a robot controller that controls the operation of a robot having at least one joint connecting two members to make the relative position or attitude between the two members variable, the robot control program causing the information processing apparatus to operate as the robot controller comprising:

• a control algorithm storage section that generates a control algorithm constructed by a recurrent neural network having plural neurons to produce an output with an analogue lag including a zero lag based on an input and including at least one lag neuron to produce an output with an analogue lag excluding a zero lag in the plural neurons, in which there is a loop of signal flow;
• and
• a robot control section that controls the robot of control object employing a control signal generated based on the control algorithm stored in the control algorithm storage section.

A robot having at least one joint connecting two members to make the relative position or attitude between the two members variable, in which the robot has a robot controller that controls the operation of the robot, the robot controller comprising:

• a control algorithm storage section that stores a control algorithm constructed by a recurrent neural network having plural neurons to produce an output with an analogue lag including a zero lag based on an input and including at least one lag neuron to produce an output with an analogue lag excluding a zero lag in the plural neurons, in which there is a loop of signal flow;
• and
• a robot control section that controls the operation of the robot employing a control signal generated based on the control algorithm stored in the control algorithm storage section.