Title :
Adaptive control of biped robots based on Gennet
Author :
Kehua, Miao ; Xiao, Miao ; Lincen, Zou
Author_Institution :
Dept. of Autom., Xiamen Univ., Xiamen, China
Abstract :
The dynamic walking stability of robots is a key to biped robots study. Due to the uncertainty of outside environment, adaptability has become a priority in the research of dynamic walking of robots. In order to realize the dynamic walking of robots, a Genetic Neural Network is used to develop an Adaptive Control Neural Network. A better walking result is realized by the Neural Network trained by abnormal walking samples and self-adaptive fitness formulation.
Keywords :
adaptive control; genetic algorithms; legged locomotion; neurocontrollers; robot dynamics; Gennet; adaptive control; biped robots; genetic neural network; outside environment; robot dynamic walking stability; self-adaptive fitness formulation; Genetic algorithms; Joints; Legged locomotion; Neural networks; Robot kinematics; Vectors; Genetic Neural Network; biped robots; self-adaptive; walking control;
Conference_Titel :
Computer Science & Education (ICCSE), 2012 7th International Conference on
Conference_Location :
Melbourne, VIC
Print_ISBN :
978-1-4673-0241-8
DOI :
10.1109/ICCSE.2012.6295237
