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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40809

Title: Intelligent Locomotion Control on Sloping Surfaces
Authors: Jih-Gau Juang
Contributors: 國立臺灣海洋大學:通訊與導航工程學系
Keywords: Neural networks
Robotic locomotion
Intelligent control
Gait synthesis
Date: 2002
Issue Date: 2017-02-07T01:17:06Z
Publisher: Information Sciences
Abstract: Abstract: A learning scheme is developed to generate robotic locomotion on different sloping surfaces. This scheme uses three neural networks: a neural network controller, a neural network emulator, and a slope information neural network. The neural network controller is pre-trained by a reference trajectory on a horizontal surface. The emulator is pre-trained to identify the robotic dynamics. The slope information neural network provides compensated control signals to the robot on different slope angles by using the control signals on the horizontal surface from the pre-trained controller. The training rule is a backpropogation algorithm with time delay. The proposed technique can generate gaits on different sloping surfaces by following a reference trajectory with desired step length, crossing height and walking speed.
Relation: 147(1-4)
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40809
Appears in Collections:[通訊與導航工程學系] 期刊論文

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