A neural gait synthesizer for autonomous biped robots
A neural gait synthesizer for autonomous biped robots
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用于自主双足机器人的神经步态合成器
DOI：
10.1109/iros.1990.262457
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发表时间：
1990
期刊：
影响因子：
--
通讯作者：
Yuan F. Zheng
中科院分区：
文献类型：
--
作者：
Yuan F. Zheng
提出了一种基于神经计算的自主步态综合机制。该机构用于生成机器人在复杂地形下的运动轨迹。它以神经步态合成器为中心。后者由若干功能单元组成，包括中央模式发生器、自适应神经网络、知识库、学习单元和切换机制。中央模式发生器负责产生自主和非自主运动的运动模式，自适应网络用于根据地形条件修改自反运动模式，切换单元负责真实的实时做出决定以在自主和非自主运动之间切换，中央模式发生器负责产生自主和非自主运动的运动模式，自适应网络用于根据地形条件修改自反运动模式，切换单元负责在自主和非自主运动之间切换。知识库用于存储运动模式的特征参数，学习单元从非自主运动中提取特征参数。在此基础上，提出了一种自动步态合成器的体系结构。<<ETX>>
An autonomous gait synthesis mechanism based on neuro-computing is presented. The mechanism is for generating motion trajectories of biped robots in negotiating difficult terrains. It is centered on a neural gait synthesizer. The latter consists of a number of functional unit including a central pattern generator an adaptive neural network, a knowledge base, a learning unit and a switch mechanism. The central pattern generator is responsible for generating motion patterns of voluntary and involuntary motions; the adaptive network is used to modify the reflexive motion patterns in accordance with terrain conditions; the responsibility of the switching unit is to make decisions in real time to switch between voluntary and involuntary motions; the knowledge base is used to store feature parameters of motion patterns, and the learning unit extracts feature parameters from an involuntary motion. Based on the functional units, an architecture for the automated gait synthesizer is presented.<<ETX>>