NDLI: Stabilization control of biped locomotion robot based learning with GAs having self-adaptive mutation and recurrent neural networks

Content Provider	IEEE Xplore Digital Library
Author	Fukuda, T. Komata, Y. Arakawa, T.
Copyright Year	1997
Description	Author affiliation: Dept. of Micro Syst. Eng., Nagoya Univ., Japan (Fukuda, T.)
Abstract	The purpose of this research is to generate natural motion of the biped locomotion robot such as the walking of a human in various environments. In this paper, we propose a method of stable motion generation of a biped locomotion robot. We apply the control of this proposed method with eight force sensors at the soles of the biped locomotion robot. The zero moment point (ZMP) is a well known index of stability in walking robots. ZMP is determined by the configuration of the robots. However, there are many configurations against the ZMP. Because of that, when we use ZMP as the stabilization index, we must select the best configuration in many stability configurations. Then it is a problem of which configurations are selected. In this paper, we solve the problem with recurrent neural networks. In both the single support and double support periods, we calculate the position of ZMP by using values from four force sensors at each sole, and actuation joints and the angles can be determined by recurrent neural networks without ZMP moving out from the supporting area of sole. We employ the recurrent neural networks with genetic algorithms for learning capability and self-adaptive mutation operator. Further, we build a biped locomotion robot in trial, which has 13 joints and verified that the calculated stable motion trajectory can be successfully applied to the practical biped locomotion.
Starting Page	217
Ending Page	222
File Size	505885
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.620041
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Recurrent neural networks Robot sensing systems Humans Genetic mutations Force sensors Stability Force control Educational robots Systems engineering and theory
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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