http://scholars.ntou.edu.tw/handle/123456789/18121
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.author | Jih-Gau Juang | en_US |
dc.date.accessioned | 2021-10-29T02:13:59Z | - |
dc.date.available | 2021-10-29T02:13:59Z | - |
dc.date.issued | 1996-09-15 | - |
dc.identifier.isbn | 0-7803-2978-3 | - |
dc.identifier.issn | 2158-9860 | - |
dc.identifier.other | INSPEC Accession Number: 5437319 | - |
dc.identifier.uri | http://scholars.ntou.edu.tw/handle/123456789/18121 | - |
dc.description.abstract | Intelligent path training of a five-link walking robot on sloped surface is introduced. A neural network theory, backpropagation through time, is applied in this study. The learning scheme uses two neural networks, a neural network controller and a neural network emulator, both of which are multilayered feedforward neural networks. The emulator is trained on accuracy data that characterize the actual walking robot kinematics. The controller learns to provide the control signals at each stage of a walking gait. These trained networks can generate walking patterns by giving reference trajectory which defines the desired step width, height and period in several stages. A mathematical analysis for dynamic walking, based on the ground impact reaction, is included. This proposed scheme is tested with simulations of the BLR-G1 walking robot. | en_US |
dc.language.iso | en | en_US |
dc.subject | Intelligent robots | en_US |
dc.subject | Legged locomotion | en_US |
dc.subject | Neural networks | en_US |
dc.subject | Feedforward neural networks | en_US |
dc.subject | control systems | en_US |
dc.subject | artificial neural networks | en_US |
dc.subject | Multi-layer neural network | en_US |
dc.subject | robot control | en_US |
dc.subject | humans | en_US |
dc.subject | nonlinear control systems | en_US |
dc.title | Intelligent path training of a five-link walking robot on sloped surface | en_US |
dc.type | conference paper | en_US |
dc.relation.conference | Proceedings of the 1996 IEEE International Symposium on Intelligent Control | en_US |
dc.relation.conference | Dearborn, MI, USA | en_US |
dc.identifier.doi | 10.1109/ISIC.1996.556168 | - |
dc.relation.pages | 1-6 | en_US |
item.cerifentitytype | Publications | - |
item.openairetype | conference paper | - |
item.openairecristype | http://purl.org/coar/resource_type/c_5794 | - |
item.fulltext | no fulltext | - |
item.grantfulltext | none | - |
item.languageiso639-1 | en | - |
crisitem.author.dept | College of Electrical Engineering and Computer Science | - |
crisitem.author.dept | Department of Communications, Navigation and Control Engineering | - |
crisitem.author.dept | National Taiwan Ocean University,NTOU | - |
crisitem.author.parentorg | National Taiwan Ocean University,NTOU | - |
crisitem.author.parentorg | College of Electrical Engineering and Computer Science | - |
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