A multilayer perceptrons model for the stability of a bipedal robot

被引：5

作者：

Daya, B ^{[1
]}

机构：

[1] Univ Angers, Inst Biol Theor, F-49100 Angers, France

来源：

NEURAL PROCESSING LETTERS | 1999年 / 9卷 / 03期

关键词：

dynamical equilibrium; walking robots; neural networks; Levenberg-Marquardt's rules;

D O I：

10.1023/A:1018631315677

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A neural network model is proposed as a means of controlling the dynamical equilibrium of a walking bipedal robot. As a criterion to determine the stability of such a robot in relation with the organization of the sensorimotor system, we have been making use of the ZMP (Zero Momentum Point). Simulations are used to check the convergence of the algorithm. In the generalization phase, it is shown that the neural network has the ability to stabilise the robot for motions which have not previously been learned. An extended model is proposed, which seeks to closely inspect the physiology of the cerebellar cortex.

引用

页码：221 / 227

页数：7