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

Kiyotaka Izumi; Tomohiro Yamaguchi; Keigo Watanabe

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 proceeding › Conference contribution

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
Publication status	Published - Dec 1 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

Publication series

Name	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume	4

Other

Other	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Country	Japan
City	Sendai
Period	9/28/04 → 10/2/04

ASJC Scopus subject areas

Engineering(all)

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

Research output: Chapter in Book/Report/Conference proceeding › Conference 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). 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.

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