International Journal of Control, Automation, and Systems

  • 제4권6호
  • /
  • Pages.725-735
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  • 2006
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  • 1598-6446(pISSN)
  • /
  • 2005-4092(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Self-Learning Control of Cooperative Motion for Humanoid Robots

  • Hwang, Yoon-Kwon (School of Mechatronics, Changwon National University) ;
  • Choi, Kook-Jin (Department of Mechanical Design and Manufacturing, Changwon National University) ;
  • Hong, Dae-Sun (Department of Mechanical Design and Manufacturing, Changwon National University)
  • 발행 : 2006.12.30
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초록

This paper deals with the problem of self-learning cooperative motion control for the pushing task of a humanoid robot in the sagittal plane. A model with 27 linked rigid bodies is developed to simulate the system dynamics. A simple genetic algorithm(SGA) is used to find the cooperative motion, which is to minimize the total energy consumption for the entire humanoid robot body. And the multi-layer neural network based on backpropagation(BP) is also constructed and applied to generalize parameters, which are obtained from the optimization procedure by SGA, in order to control the system.

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참고문헌

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