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このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/7807
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| タイトル: | Self-adapting humanoid locomotion using a neural oscillator network |
| 著者: | Yang, Woosung
Chong, Nak Young
Kim, ChangHwan
You, Bum Jae |
| 発行日: | 2007 |
| 出版者: | Institute of Electrical and Electronics Engineers (IEEE) |
| 誌名: | IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. IROS 2007. |
| 開始ページ: | 309 |
| 終了ページ: | 316 |
| DOI: | 10.1109/IROS.2007.4399498 |
| 抄録: | Stable and robust dynamic locomotion has been gaining increasing attention in humanoid research. This paper presents a neural oscillator network for the generation of periodic locomotion patterns adapting to changes in the slope of the terrain. Specifically, locomotion trajectories of individual limbs are predetermined in the trajectory generator as a periodic function of the gait. The phase of the periodic function is coordinated with the output of the neural oscillator network incorporating sensory signals detecting the state of the foot in contact with the unknown changing terrain. For stability to be maintained, the neural oscillator plays an important role by controlling the trajectory of the COM in phase with the trajectory of the ZMP. In order to verify the validity of the proposed scheme, we carry out simulations and experiments. A preliminary investigation has yielded promising results, indicating that it may be applied to humanoid locomotion through uneven and uncertain terrain. |
| Rights: | Copyright (C) 2007 IEEE. Reprinted from IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. IROS 2007. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of JAIST's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. |
| URI: | http://hdl.handle.net/10119/7807 |
| 資料タイプ: | publisher |
| 出現コレクション: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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このアイテムのファイル:
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記述 |
サイズ | 形式 |
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| A10898.pdf | | 1647Kb | Adobe PDF | 見る/開く |
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