Rule-Based Learning untuk Robot Humanoid T-FLoW Belajar Berjalan
نویسندگان
چکیده
ABSTRAKRiset tentang penggunaan learning dalam motion robot humanoid telah banyak dilakukan di seluruh dunia. Salah satunya adalah melakukan gerakan berjalan pada robot. Penelitian ini akan menjelaskan suatu metode “Rule Based” yang simple dan cepat menemukan solusi stabil T-FLoW . Robot diibaratkan seperti anak kecil belajar berjalan, dia tahu cara tetapi tidak seberapa besar harus menggerakkan sendi-sendi atau joint kakinya agar dapat seimbang. Oleh karena itu sistem nilai point-point trayektori cocok untuk dengan stabil. Dengan menggunakan software simulasi CoppeliaSim, kami menerapkan tersebut. Hasilnya, sejauh 170 langkah hanya sebanyak 400 episode.Kata kunci: T-FLoW, Rule-Based Learning, Trayektori. ABSTRACTResearch about the use of in has been done many countries. One them was by a stable walking gait This research will explain fast and Rule Based method to find solution for A assumed like child trying walk, he knows how but doesn’t know much move his legged joints get walking. So, our system those trajectory point values that is suitable walk stably. By using CoppeliaSim software, we implement method. The result is, able stably steps with only episodes learning.Keywords: robot, Trajectory.
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ژورنال
عنوان ژورنال: Elkomika
سال: 2022
ISSN: ['2338-8323', '2459-9638']
DOI: https://doi.org/10.26760/elkomika.v10i1.46