조명전기설비학회논문지 (Journal of the Korean Institute of Illuminating and Electrical Installation Engineers)

한국조명전기설비학회 (The Korean Institute of IIIuminating and Electrical Installation Engineers)
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신경회로망을 이용한 2족 보행 로봇의 설계 및 구현

Design and Implementation of a Biped Robot using Neural Network

  • 이성수 (한국폴리텍대학 익산캠퍼스 생산자동화과) ;
  • 박왈서 (원광대학교 공과대학 전기공학과)
  • Lee, Seong-Su (IKsan Campus of Korea Polytechnic Department of Production Automation) ;
  • Park, Wal-Seo (Wonkwang University Department of Electrical Engineering)
  • 투고 : 2012.08.29
  • 심사 : 2012.10.02
  • 발행 : 2012.10.30
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초록

This research is to apply the control of neuron networks for the real-time walking control of Multi-articulated robot. Multi-articulated robot is expressed with a complicated mathematical model on account of the mechanic, electric non-linearity which each articulation of mechanism has, and includes an unstable factor in time of walking control. If such a complex expression is included in control operation, it leads to the disadvantage that operation time is lengthened. Thus, if the rapid change of the load or the disturbance is given, it is difficult to fulfill the control of desired performance. This paper proposes a new mode to implement a neural network controller by installing a real object for controlling and an algorithm for this, which can replace the existing method of implementing a neural network controller by utilizing activation function at the output node. The proposed control algorithm generated control signs corresponding to the non-linearity of Multi-articulated robot, which could generate desired motion in real time.

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참고문헌

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