NDLI: A design method of neural oscillatory networks for generation of humanoid biped walking patterns

Content Provider	IEEE Xplore Digital Library
Author	Cao, M. Kawamura, A.
Copyright Year	1998
Description	Author affiliation: Div. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan (Cao, M.)
Abstract	We analyse the mechanisms of human walking patterns and propose two design methods of neural oscillatory networks for generating various desired biped walking patterns of an 8 joints model in 3D plane. First, we discuss how the construction and the parameters of the network determine the inner state variable of each neuron in the network. Then we try to use two different methods to build the suitable network which can generate the desired walking patterns. The first method is to lower the system dimension to 3/spl times/n by considering some mechanisms in human walking and solve the connection weights of the network by the harmonic balance method. The second method is to calculate all kinds of connections of the network by genetic algorithms. From the results of simulations the methods were proved to be effective.
Starting Page	2357
Ending Page	2362
File Size	499729
Page Count	6
File Format	PDF
ISBN	078034300X
ISSN	10504729
DOI	10.1109/ROBOT.1998.680676
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-05-20
Publisher Place	Belgium
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Design methodology Legged locomotion Humans Humanoid robots Mathematical model Oscillators Rehabilitation robotics Pattern analysis Neurons Animals
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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