TY - GEN
T1 - Free-gait of quadruped robots using neural networks for determining the order of swing leg
AU - Izumi, Kiyotaka
AU - Yamaguchi, Tomohiro
AU - Watanabe, Keigo
PY - 2004/12/1
Y1 - 2004/12/1
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:14044272917
SN - 0780384636
T3 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
SP - 3400
EP - 3405
BT - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T2 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 28 September 2004 through 2 October 2004
ER -