85 0

학습 알고리즘을 이용한 4 족 로봇의 안정적인 트롯 보행 구현

Title
학습 알고리즘을 이용한 4 족 로봇의 안정적인 트롯 보행 구현
Other Titles
Stable trotting of quadruped robot with learning algorithm
Author
박종현
Keywords
4 족보행로봇; 종종걸음; 강화학습법; 타원궤적; Quadruped; Trot; Reinforcement learning; Elliptical trajectory
Issue Date
2011-11
Publisher
대한기계학회
Citation
대한기계학회 논문집, 2011, P.817-820
Abstract
In this paper, stable trot motion of quadruped using PG-RL Algorithm is investigated. parameterize elliptical trajectory is used in this research. To realize stable trot motion, change of angle is estimated and the action of the quadruped robot has been evaluated with score of an objective function. simulation of algorithm shows the PG-RL algrithm minimizes the change of the body oirentation.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02041734http://hdl.handle.net/20.500.11754/66136
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE