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    • UNIR REVISTAS
    • Revista IJIMAI
    • 2018
    • vol. 5, nº 1, june 2018
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    • UNIR REVISTAS
    • Revista IJIMAI
    • 2018
    • vol. 5, nº 1, june 2018
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    Hybrid Model for Passive Locomotion Control of a Biped Humanoid:The Artificial Neural Network Approach

    Autor: 
    Bhaskar-Semwal, Vijay
    ;
    Raj, Manish
    ;
    Nandi, G C
    Fecha: 
    06/2018
    Palabra clave: 
    artificial neural networks; legged locomotion; passive walking; error analysis; IJIMAI
    Tipo de Ítem: 
    article
    URI: 
    https://reunir.unir.net/handle/123456789/12354
    DOI: 
    http://doi.org/10.9781/ijimai.2017.10.001
    Dirección web: 
    https://ijimai.org/journal/bibcite/reference/2638
    Open Access
    Resumen:
    Developing a correct model for a biped robot locomotion is extremely challenging due to its inherently unstable structure because of the passive joint located at the unilateral foot-ground contact and varying configurations throughout the gait cycle, resulting variation of dynamic descriptions and control laws from phase to phase. The present research describes the development of a hybrid biped model using an Open Dynamics Engine (ODE) based analytical three link leg model as a base model and, on top of it, an Artificial Neural Network based learning model which ensures better adaptability, better limits cycle behaviors and better generalization while negotiating along a down slope. The base model has been configured according to the individual subjects and data have been collected using a novel technique through an android app from those subjects while walking down a slope. The pattern between the deviation of the actual trajectories and the base model generated trajectories has been found using a back propagation based artificial neural network architecture. It has been observed that this base model with learning based compensation enables the biped to better adapt in a real walking environment, showing better limit cycle behaviors. We also observed the bounded nature of deviation which led us to conclude that the strategy for biped locomotion control is generic in nature and largely dominated by learning.
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