Free-gait of quadruped robots using neural networks for determining the order of swing leg

Kiyotaka Izumi, Tomohiro Yamaguchi, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In walking of quadruped robots, a better performance is obtained by changing the order of swing leg at a gait. In this paper, we study a walking with obstacles avoidance of a quadruped robot using neural network (NN) for determining the moving distance of the robot and for determining the order of a swing leg. The training data is considered with initial positions of each leg. The effectiveness of the present method is demonstrated with some experiments using TITAN-VIII.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages3400-3405
Number of pages6
Volume4
Publication statusPublished - 2004
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: Sep 28 2004Oct 2 2004

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period9/28/0410/2/04

Fingerprint

Robots
Neural networks
Collision avoidance
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Izumi, K., Yamaguchi, T., & Watanabe, K. (2004). Free-gait of quadruped robots using neural networks for determining the order of swing leg. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Vol. 4, pp. 3400-3405)

Free-gait of quadruped robots using neural networks for determining the order of swing leg. / Izumi, Kiyotaka; Yamaguchi, Tomohiro; Watanabe, Keigo.

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 4 2004. p. 3400-3405.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Izumi, K, Yamaguchi, T & Watanabe, K 2004, Free-gait of quadruped robots using neural networks for determining the order of swing leg. in 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 4, pp. 3400-3405, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan, 9/28/04.
Izumi K, Yamaguchi T, Watanabe K. Free-gait of quadruped robots using neural networks for determining the order of swing leg. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 4. 2004. p. 3400-3405
Izumi, Kiyotaka ; Yamaguchi, Tomohiro ; Watanabe, Keigo. / Free-gait of quadruped robots using neural networks for determining the order of swing leg. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 4 2004. pp. 3400-3405
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