http://scholars.ntou.edu.tw/handle/123456789/18120
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.author | Jih-Gau Juang | en_US |
dc.contributor.author | Chun-Shin Lin | en_US |
dc.date.accessioned | 2021-10-29T02:08:28Z | - |
dc.date.available | 2021-10-29T02:08:28Z | - |
dc.date.issued | 1996-06-03 | - |
dc.identifier.isbn | 0-7803-3210-5 | - |
dc.identifier.other | INSPEC Accession Number: 5392744 | - |
dc.identifier.uri | http://scholars.ntou.edu.tw/handle/123456789/18120 | - |
dc.description.abstract | A neural network architecture is developed for the gait synthesis of a five-link biped walking robot. The learning scheme uses a multilayered feedforward neural network combined with a linearized inverse biped model. It can generate walking gait by giving reference trajectory which defines a desired gait in several stages. The algorithm used to train network is known as back-propagation with time-delay or so-called backpropagation through time. A three-layered neural network is used as a controller, it provides the control signals in each stage of a walking gait. The linearized inverse biped model calculates the error signals which will be used to back propagate through the controller in each stage. | en_US |
dc.language.iso | en | en_US |
dc.publisher | IEEE | en_US |
dc.subject | legged locomotion | en_US |
dc.subject | Robots | en_US |
dc.subject | Backpropagation algorithms | en_US |
dc.subject | Legged locomotion | en_US |
dc.subject | Neural networks | en_US |
dc.subject | Humans | en_US |
dc.subject | Trajectory | en_US |
dc.subject | Network synthesis | en_US |
dc.subject | Inverse problems | en_US |
dc.subject | Control systems | en_US |
dc.subject | Leg | en_US |
dc.title | Gait Synthesis of a Biped Robot Using Backpropagation Through Time Algorithm | en_US |
dc.type | conference paper | en_US |
dc.relation.conference | Proceedings of International Conference on Neural Networks (ICNN'96) | en_US |
dc.relation.conference | Washington, DC, USA | en_US |
dc.identifier.doi | 10.1109/ICNN.1996.549158 | - |
dc.relation.journalvolume | 3 | en_US |
dc.relation.pages | 1710-1715 | en_US |
item.languageiso639-1 | en | - |
item.cerifentitytype | Publications | - |
item.openairetype | conference paper | - |
item.grantfulltext | none | - |
item.fulltext | no fulltext | - |
item.openairecristype | http://purl.org/coar/resource_type/c_5794 | - |
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 | - |
顯示於: | 通訊與導航工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。