Back propagation 신경망이론을 이용한 4 족 보행로봇의 가상 센서 기술 제안
- Title
- Back propagation 신경망이론을 이용한 4 족 보행로봇의 가상 센서 기술 제안
- Other Titles
- Proposal of Virtual Sensor Technique for Quadruped Robot using Backpropagation Neural Network
- Author
- 한창수
- Keywords
- Quadruped robot(4족 보행로봇); Neural network(신경망이론); Back propagation(역전파); Virtual sensor(가상센서)
- Issue Date
- 2008-11
- Publisher
- 대한기계학회
- Citation
- 대한기계학회 2008년도 추계학술대회, Page. 894-899
- Abstract
- Measured sensor datum from a quadruped robotics is commonly used for recognizing physical environment information which controls the posture of robotics. We can advance the ambulation with this sensed information and need to synthesize various sensors for obtaining accurate data, but most of these sensors are expensive and require excessive load for the operation. Those defects can be serious problem when it comes to the prototype's practicality and mass production, and maintenance of the system. This paper suggests virtual sensor technology for avoiding previous defects and presents ways to apply a theory to a walking robotics through virtual sensor information which is trained with several kinds of actual sensor information from the prototype system; the general algorithm is initially based on the neural network theory of back propagation. In specific, we verified a possibility of replacing the virtual sensor with the actual one through a reaction force measurement experiment.
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE01112708https://repository.hanyang.ac.kr/handle/20.500.11754/105103
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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