Journal
JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS
Volume 18, Issue 2, Pages 135-139Publisher
FUJI TECHNOLOGY PRESS LTD
DOI: 10.20965/jaciii.2014.p0135
Keywords
associatron; gait motion; six legged robot
Categories
Ask authors/readers for more resources
This research addresses a gait motion planning problem for a six-legged robot walking on an irregular field. In this proposal, we used a simplified neural network model called an Associatron that recalls total motion patterns sequentially from partial information. The Associatron is used here because it is more effective and adaptable than conventional methods. Using the proposed method, the robot is expected to walk in unknown fields. After verifying planning using an Open Dynamics Engine (ODE) by using simulations, we found that memorized patterns are recalled from developed patterns. We then conducted experiments using a real developed robot. Experiment results show that, when using the proposed planning method, the robot selects suitable gait motion patterns in the presence of an obstacle.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available