2A2-C03 障害物乗り越え動作を含む最適軌道の学習に基づく脚式ロボットの歩行計画(脚移動ロボット)

概要

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The purpose of this research is the development of the obstacle avoidance algorithm for walking robot in response to obstacle environment. The generation of the avoidance motion carries out by the optimization of stepping points and the generation of toe trajectory between every stepping point of the toes. We make the neural networks to generate the stepping points in response to the obstacle recognition. Training data for the neural networks are optimum stepping points generated by the genetic algorithm based on the mechanism of robot model and obstacles. The set of the representative points of obstacle is input data and the set of stepping points is out put of the trained neural networks. In the case of using configurations and heights of obstacle for the training data, the neural network output the optimum stepping points successfully.
一般社団法人日本機械学会の論文
2011-05-26