Name
Abstract | ||
|---|---|---|
In recent years, the Biped Robot is more and more self-determining and time-sensitive, so the stability has become a very important question. But the traditional control methods can not meet it. To solve this question, Artificial Neural Network (ANN) has been brought up. Instead of most traditional control methods, Artificial Neural Network is applied widely to control the Biped Robot to walk accurately and stably. In this work, we design a control system of the Biped Robot with GA-ANN (Artificial Neural Network based on Genetic Algorithm). The GA-ANN control system adjusts the weights by the robot's Zero Moment Point (ZMP), tracks the robot's nonlinear kinetic system and keeps the robot step stably. Experiments show the stability improvement of robot using proposed algorithm. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1145/1543834.1543918 | GEC Summit |
Keywords | Field | DocType |
stability study,neural network,biped robot,control system,genetic algorithm,ga-ann control system,stability improvement,artificial neural network,nonlinear kinetic system,important question,traditional control method,robot step stably,kinetics,zero moment point | Nonlinear system,Control theory,Computer science,Zero moment point,Artificial intelligence,Control system,Artificial neural network,Robot,Genetic algorithm | Conference |
Citations | PageRank | References |
0 | 0.34 | 3 |
Authors | ||
3 | ||