514 ニューラルネットワークによる歩行ロボット脚の最適軌道生成

概要

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In this paper, we study an inverse kinematic problem in which trajectories of walking toes are generated under the condition of minimum walking energy. Under spatial constraints such as obstacle avoidance, mathematical optimization method is used for optimization of several parameters which describe the trajectory function of toe. The calculation of optimum trajectory takes much time, therefore it is difficult to control for walking robot in real time. In this study we use a neural network controller. Data of optimum trajectory obtained by using the mathematical optimization is used for learning of the neural network. Under spatial constraints such as an obstacle, the optimum trajectories of toes are obtained by the neural network controller.
一般社団法人日本機械学会の論文
2000-07-31