Layered neural-based locomotion for biped robot movement with carrying dynamic payload

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Locomotion control of a biped locomotion robot using nonlinear oscillators

This paper proposes the locomotion control system for a biped locomotion robot. The proposed control system is composed of motion generator system and motion control system. Motion generator system is composed of nonlinear oscillators which generate the commanded trajectories of the joints as functions of phases of oscillators. Motion control system is composed of motors with controllers instal...

متن کامل

Adaptive dynamic balance of a biped robot using neural networks

An adaptive dynamic balance scheme was implemented and tested on an experimental biped. The control scheme used pre-planned but adaptive motion sequences. CMAC neural networks were responsible for the adaptive control of side-to-side and front-to-back balance, as well as for maintaining good foot contact. Qualitative and quantitative test results show that the biped performance improved with ne...

متن کامل

Nature-Inspired Optimization for Biped Robot Locomotion and Gait Planning

Biped locomotion for humanoid robots is a challenging problem that has come into prominence in recent years. As the degrees of freedom of a humanoid robot approaches to that of humans, the need for a better, flexible and robust maneuverability becomes inevitable for real or realistic environments. This paper presents new motion types for a humanoid robot in coronal plane on the basis of Partial...

متن کامل

Dynamic Control Algorithm for a Biped Robot

A not trivial problem in bipedal robot walking is the instability produced by violent transitions between the different walk phases. In this work a dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot’s position, velocity and acceleration. This guarantee a constant velocity an a smooth transition...

متن کامل

Neural Network model for a biped robot

In bipedal walking, stable balance and walking sequence are essential. In this work, a neural network to model the balance dynamic of a biped robot is proposed. The back propagation neural network capacities to generalize are used to agilely characterize the performance of a fuzzy PD incremental algorithm based on the ZMP criteria to balance a real biped robot structure. The effectiveness of th...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Procedia Computer Science

سال: 2019

ISSN: 1877-0509

DOI: 10.1016/j.procs.2019.09.196