2A1-C30 4足歩行ロボットの足先最適軌道の生成 : ニューラルネットワークによる足先軌道生成 / 2A1-C30 Toe Trajectory Generation of Four Legged Walking Robot : Toe Trajectory Generation Using Neural Networks
- Resource Type
- Journal Article
- Authors
- Masayuki NAKAMURA; Takeshi YANAGISAWA; Toshihiko MIYAZAWA; Yoshiko SUDA; 中村 正行; 宮澤 俊彦; 柳澤 岳志; 須田 芳子
- Source
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2006, 1
- Subject
- Neural Network
Obstacle Avoidance
Optimum Trajectory
Walking Robot
- Language
- Japanese
- ISSN
- 2424-3124
In this paper, we study an inverse kinematics problem in which optimum trajectories of walking robot toes are generated under the condition of minimum walking energy. It is important for the walking robot that the motions of legs is determined to achieve the desired body operation. A 4-legged walking robot with rinks and motors at joints of waist and knee is assumed. The trajectory of the toe is expressed by the multiple curves and the connection condition is used for reducing parameters. Neural networks are applied to generate the optimum trajectory parameters for an arbitrary obstacle shape and a set of toe positions.