249 ファジィクラスタリングとニューラルネットワークを用いた歩行ロボット脚の軌道生成逆解析(OS09-3 逆問題解析手法の開発と最新応用(3))(OS09 逆問題解析手法の開発と最新応用)

概要

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In this paper, we study inverse kinematics problems in which the trajectories of walking robot toes are generated under the condition of minimum walking energy. It is important for a walking robot that motions of legs are determined to achieve a desired body motion. A 4-legged walking robot with two rinks and two motors at joints of waist and knee is assumed in this study. A mathematical optimization method is used for the optimization of several parameters which describe the trajectory function of toe. A fuzzy clustering is applied to select teaching data for neural networks to obtain trajectory parameters. Some trained neural network controllers are applied to each obstacle by switching over.
社団法人日本機械学会の論文
2001-11-27