National Taiwan Ocean University Institutional Repository:Item 987654321/40805
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题名: Fuzzy Neural Networks Approaches for Robotic Gait Synthesis
作者: Jih-Gau Juang
贡献者: 國立臺灣海洋大學:通訊與導航工程學系
日期: 2000
上传时间: 2017-02-07T01:04:59Z
出版者: IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS—PART B: CYBERNETICS
摘要: Abstract: In this paper, a learning scheme using a fuzzy controller to generate walking gaits is developed. The learning scheme uses a fuzzy controller combined with a linearized inverse biped model. The controller provides the control signals at each control time instant. The algorithm used to train the controller is "backpropagation through time". The linearized inverse biped model provides the error signals for backpropagation through the controller at control time instants. Given prespecified constraints such as the step length, crossing clearance, and walking speed, the control scheme can generate the gait that satisfies these constraints. Simulation results are reported for a five-link biped robot.
關聯: 30(4)
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40805
显示于类别:[通訊與導航工程學系] 期刊論文

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