Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2006.10c
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- Pages.539-541
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- 2006
Use of Learning Based Neuro-fuzzy System for Flexible Walking of Biped Humanoid Robot
이족 휴머노이드 로봇의 유연한 보행을 위한 학습기반 뉴로-퍼지시스템의 응용
- Published : 2006.10.27
Abstract
Biped locomotion is a popular research area in robotics due to the high adaptability of a walking robot in an unstructured environment. When attempting to automate the motion planning process for a biped walking robot, one of the main issues is assurance of dynamic stability of motion. This can be categorized into three general groups: body stability, body path stability, and gait stability. A zero moment point (ZMP), a point where the total forces and moments acting on the robot are zero, is usually employed as a basic component for dynamically stable motion. In this rarer, learning based neuro-fuzzy systems have been developed and applied to model ZMP trajectory of a biped walking robot. As a result, we can provide more improved insight into physical walking mechanisms.