Autonomous humanoid robot locomotion based on neural networks

Industrial Robot - 2002
GenciCapi1, YasuoNasu2, KazuhisaMitobe3, LeonardBarolli4
1PhD Student, Department of Mechanical Systems Engineering, Yamagata University, Japan
2Professor, Department of Mechanical Systems Engineering, Yamagata University, Japan
3Associate Professor, Department of Mechanical Systems Engineering, Yamagata University, Japan
4Research Associate, Department of Public Policy and Social Studies, Yamagata University, Japan

Tóm tắt

This paper contributes to the problem of humanoid robot gait generation in unknown environments. The intention of the proposed method is to create an autonomous humanoid robot, able to take decisions and generate the appropriate optimal gait based on the information received by the eye system. Up to now, we have created two modules: walking and going upstairs. In order to create an autonomous humanoid robot, we plan to consider other tasks like going downstairs, creeping, obstacle overcoming, etc. In this paper, we present the simulation and experimental results for real time humanoid robot gait generation realized with the “Bonten‐Maru I” humanoid robot. The results showed that the Neural Network modules generate in a very short time a stable humanoid robot motion.

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Tài liệu tham khảo

Capi, G., Nasu, Y., Barolli, L., Yamano, M., Mitobe, K. and Takeda, K. (2001), “Real time generation of humanoid robot optimal gait for going upstairs using intelligent algorithms”, Industrial Robot: An International Journal, Vol. 28 No. 6, pp. 489‐97.

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Takeda, K., Nasu, Y., Capi, G., Yamano, M., Barolli, L. and Mitobe, K. (2001), “A CORBA‐based approach for humanoid robot control”, Industrial Robot: An International Journal, Vol. 28 No. 3, pp. 242‐50.

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