NDLI: An on-line biped mini-robot motion learning using neural network and database management

Content Provider	IEEE Xplore Digital Library
Author	Shih-Feng Chen
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Engineering, Lunghwa University of Science and Technology, Taoyuan County, Taiwan (Shih-Feng Chen)
Abstract	In this research, the back-propagation neural network system and the ACCESS database management are implemented for on-line learning of the ankle joint of the biped robot walking forward. The system acquires the inclining angles of the center of gravity by the inclination sensor and the joint angles by the AI servo motors when the manual teaching is applied for the on-line learning templates of the biped robot walking motions. Regarding the method and process of research, the manual teaching is approached to the motion trajectory of a biped robot, and then all rotating angles of robot joints and the inclining information of the center of gravity are detected via the sensors to be saved. Repeat the original operation route and reconfirm whether the motion trajectory is taught to fall within the center of gravity for regarding as training sample parameters for the motion trajectory. Thus, the motion trajectories of the hip joint angle, the knee joint angle, and the inclining angles of the center of gravity are conducted to approach the ankle joint through the training of the back-propagation neural network system to assure the center of gravity located inside of range of the soles of the feet. The experimental results are shown that the biped min-robot can automatically adjusted the center of body gravity during the walking motion through the back-propagation neural network system.
Starting Page	636
Ending Page	640
File Size	511953
Page Count	5
File Format	PDF
ISBN	9781424499502
ISSN	21579563
e-ISBN	9781424499533
DOI	10.1109/ICNC.2011.6022156
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Training database management Robot sensing systems Trajectory on-line learning Joints Foot biped robot motion back-propagation neural network
Content Type	Text
Resource Type	Article

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