http://scholars.ntou.edu.tw/handle/123456789/18124
標題: | Fuzzy modeling control for robotic gait synthesis |
作者: | Jih-Gau Juang |
關鍵字: | fuzzy control;legged locomotion;Fuzzy neural networks;Inverse problems;Network synthesis;Neural networks;Multi-layer neural network;backpropagation algorithms;Error correction |
公開日期: | 12-十二月-1997 |
出版社: | IEEE |
卷: | 4 |
起(迄)頁: | 3670-3675 |
會議論文: | Proceedings of the 36th IEEE Conference on Decision and Control San Diego, CA, USA |
摘要: | This paper presents a biped locomotion learning scheme using a fuzzy modeling neural network. The learning scheme can generate walking gaits by providing a reference trajectory which defines the desired step width, height and period in several stages. This proposed scheme uses a fuzzy controller combined with a linearized inverse biped model. A multilayer fuzzy neural network is used as a controll... |
URI: | http://scholars.ntou.edu.tw/handle/123456789/18124 |
ISBN: | 0-7803-4187-2 |
ISSN: | 0191-2216 |
DOI: | 10.1109/CDC.1997.652426 |
顯示於: | 通訊與導航工程學系 |
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