Publication detail

Artificial Neural Network Application To Walk Of A Four Legged Robot

Original Title

Artificial Neural Network Application To Walk Of A Four Legged Robot

Czech Title

Artificial Neural Network Application To Walk Of A Four Legged Robot

Language

cs

Original Abstract

This paper presents simple method to extrapolate walk of a four legged robot. Movement of the robot is actuated by twelve servo-drives. This technique of walking is based on a few stable positions of robot body. To reach smooth movement, is sequence of positions extrapolated by artificial neural network. ANN is trained directly on values of servo angles. The servo angles are corresponding to the stable positions. Created neural network is able to extrapolate any posture for continuously changing input parameter. The input parameter is information about required position of the movement. Outputs of network are values of servo angles. Speed of the movement is dependent on the input parameter alternation rate. Introduced technique of walking is useful for plain surface moving.

Czech abstract

This paper presents simple method to extrapolate walk of a four legged robot. Movement of the robot is actuated by twelve servo-drives. This technique of walking is based on a few stable positions of robot body. To reach smooth movement, is sequence of positions extrapolated by artificial neural network. ANN is trained directly on values of servo angles. The servo angles are corresponding to the stable positions. Created neural network is able to extrapolate any posture for continuously changing input parameter. The input parameter is information about required position of the movement. Outputs of network are values of servo angles. Speed of the movement is dependent on the input parameter alternation rate. Introduced technique of walking is useful for plain surface moving.

Documents

BibTex


@inproceedings{BUT12234,
  author="Milan {Bezdíček} and Robert {Grepl} and Michal {Švehlák} and Jaroslav {Chmelíček}",
  title="Artificial Neural Network Application To Walk Of A Four Legged Robot",
  annote="This paper presents simple method to extrapolate walk of a four legged robot. Movement of the robot is actuated by twelve servo-drives. This technique of walking is based on a few stable positions of robot body. To reach smooth movement, is sequence of positions extrapolated by artificial neural network. ANN is trained directly on values of servo angles.  The servo angles are corresponding to the stable positions. Created neural network is able to extrapolate any posture for continuously changing input parameter. The input parameter is information about required position of the movement. Outputs of network are values of servo angles. Speed of the movement is dependent on the input parameter alternation rate. Introduced technique of walking is useful for plain surface moving.",
  booktitle="Engineering mechanics 2004",
  chapter="12234",
  year="2004",
  month="january",
  pages="41",
  type="conference paper"
}