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 language | English |
|---|---|
| Title of host publication | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Pages | 3400-3405 |
| Number of pages | 6 |
| Volume | 4 |
| Publication status | Published - 2004 |
| Externally published | Yes |
| Event | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan Duration: Sep 28 2004 → Oct 2 2004 |
Other
| Other | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
|---|---|
| Country | Japan |
| City | Sendai |
| Period | 9/28/04 → 10/2/04 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
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 proceeding › Conference contribution
}
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
Y1 - 2004
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.
UR - http://www.scopus.com/inward/record.url?scp=14044272917&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=14044272917&partnerID=8YFLogxK
M3 - Conference contribution
SN - 0780384636
VL - 4
SP - 3400
EP - 3405
BT - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ER -