Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Use of Support Vector Machines in Biped Humanoid Robot for Stable Walking

안정적인 보행을 위한 이족 휴머노이드 로봇에서의 서포트 벡터 머신 이용

  • 김동원 (고려대학교 전기전자전파공학부) ;
  • 박귀태 (고려대학교 전기전자전파공학부)
  • Published : 2006.04.01
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Abstract

Support vector machines in biped humanoid robot are presented in this paper. The trajectory of the ZMP in biped walking robot poses an important criterion for the balance of the walking robots but complex dynamics involved make robot control difficult. We are establishing empirical relationships based on the dynamic stability of motion using SVMs. SVMs and kernel method have become very popular method for learning from examples. We applied SVM to model the practical humanoid robot. Three kinds of kernels are employed also and each result has been compared. As a result, SVM based on kernel method have been found to work well. Especially SVM with RBF kernel function provides the best results. The simulation results show that the generated ZMP from the SVM can be improve the stability of the biped walking robot and it can be effectively used to model and control practical biped walking robot.

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References

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