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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40953

Title: Locomotion Control Using Environment Information Inputs
Authors: Jih-Gau Juang
Contributors: 國立臺灣海洋大學:通訊與導航工程學系
Date: 1999
Issue Date: 2017-02-07T07:24:43Z
Publisher: Information Intelligence and Systems, 1999. Proceedings. 1999 International Conference on
Abstract: Abstract:
A learning scheme is developed to control bipedal 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 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 horizontal surface from the pre-trained controller. The training rule is a backpropagation algorithm with time delay. The proposed technique can generate gaits on different sloping surfaces by following reference trajectory with desired step length, crossing height and walking speed.
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40953
Appears in Collections:[通訊與導航工程學系] 演講及研討會

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