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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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