Artificial Neural Network Application To Walk Of A Four Legged Robot

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F04%3APU44729" target="_blank" >RIV/00216305:26210/04:PU44729 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

čeština

Original language name

Artificial Neural Network Application To Walk Of A Four Legged Robot

Original language description

This paper presents simple method to extrapolate walk of a four legged robot. Movement of the robot is actuated by twelve servo-drives. This technique of walking is based on a few stable positions of robot body. To reach smooth movement, is sequence of positions extrapolated by artificial neural network. ANN is trained directly on values of servo angles. The servo angles are corresponding to the stable positions. Created neural network is able to extrapolate any posture for continuously changing input parameter. The input parameter is information about required position of the movement. Outputs of network are values of servo angles. Speed of the movement is dependent on the input parameter alternation rate. Introduced technique of walking is useful forplain surface moving.

Czech name

Artificial Neural Network Application To Walk Of A Four Legged Robot

Czech description

This paper presents simple method to extrapolate walk of a four legged robot. Movement of the robot is actuated by twelve servo-drives. This technique of walking is based on a few stable positions of robot body. To reach smooth movement, is sequence of positions extrapolated by artificial neural network. ANN is trained directly on values of servo angles. The servo angles are corresponding to the stable positions. Created neural network is able to extrapolate any posture for continuously changing input parameter. The input parameter is information about required position of the movement. Outputs of network are values of servo angles. Speed of the movement is dependent on the input parameter alternation rate. Introduced technique of walking is useful forplain surface moving.

Type

D - Article in proceedings

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

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Project

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Continuities

Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year

2004

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Engineering mechanics 2004

ISBN

80-85918-88-9

ISSN

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e-ISSN

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Number of pages

2

Pages from-to

41-42

Publisher name

NEUVEDEN

Place of publication

Svratka

Event location

Svratka

Event date

May 10, 2004

Type of event by nationality

CST - Celostátní akce

UT code for WoS article

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