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Acquisition of Obstacle Avoidance Actions with Free-Gait for Quadruped Robots InTech
Tomohiro Yamaguchi; Keigo Watanabe; Kiyotaka Izumi.
We experimentally have proved a method for acquiring a path to a destination and obstacle avoidance of a quadruped robot. Robot actions were determined through an RBFNN, whose input consisted of destination information, obstacle configuration, and current robot status. Using training data on environmental conditions, focusing on x-, y-, and z-coordinates of different obstacles and certain destinations, RBFNN design parameters were optimized using a GA so that the robot reached the destination with a minimum number of walking cycles. For an untrained (unknown) environment, we found that the RBFNN was useful for acquiring an obstacle avoidance path to the destination. Effectiveness of this approach was examined by actual experiments. However, free-gait...
Tipo: 27 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/acquisition_of_obstacle_avoidance_actions_with_free-gait_for_quadruped_robots
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Selection of Obstacle Avoidance Behaviors Based on Visual and Ultrasonic Sensors for Quadruped Robots InTech
Kiyotaka Izumi; Ryoichi Sato; Keigo Watanabe; Maki K. Habib.
This chapter presented a robust approach to the design of a set of behavioral actions and the use of a combination of these actions to formulate different high level behaviors for quadruped robots. It then, enabled the robot to select the suitable behavior in real-time to avoid obstacles based on sensory information through visual and ultrasonic sensors. The developed approach was successfully tested to facilitate the navigation in real environments. 7.1 Future Work Intelligent systems should exhibit emergence property that is not designed into any of its individual sub-components. In order to make these systems adaptable to various situations and goals to be pursued in the world, it is necessary to dynamically select behaviors and to change their...
Tipo: 8 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/selection_of_obstacle_avoidance_behaviors_based_on_visual_and_ultrasonic_sensors_for_quadruped_robot
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