{"title":"基于神经-肌肉-骨骼模型和模拟退火的两足机器人运动生成","authors":"K. Taki, Y. Itoh, Shohei Kato, H. Itoh","doi":"10.1109/RAMECH.2004.1438003","DOIUrl":null,"url":null,"abstract":"We propose a stochastic approach to CPG-based motion generation of a bipedal robot. We make an extension to a motion control system based on a neuro-musculoskeletal model into three dimensions, and give an optimization of control parameters by simulated annealing. Not only do we obtain walking motion by our approach but provide some empirical verification of various walking patterns adaptive to different link structures. In addition to straight walking, this paper gives the performance results of turning walk to right and left.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"6402 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"Motion generation for bipedal robot using neuro-musculo-skeletal model and Simulated Annealing\",\"authors\":\"K. Taki, Y. Itoh, Shohei Kato, H. Itoh\",\"doi\":\"10.1109/RAMECH.2004.1438003\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We propose a stochastic approach to CPG-based motion generation of a bipedal robot. We make an extension to a motion control system based on a neuro-musculoskeletal model into three dimensions, and give an optimization of control parameters by simulated annealing. Not only do we obtain walking motion by our approach but provide some empirical verification of various walking patterns adaptive to different link structures. In addition to straight walking, this paper gives the performance results of turning walk to right and left.\",\"PeriodicalId\":252964,\"journal\":{\"name\":\"IEEE Conference on Robotics, Automation and Mechatronics, 2004.\",\"volume\":\"6402 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2004-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Conference on Robotics, Automation and Mechatronics, 2004.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RAMECH.2004.1438003\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAMECH.2004.1438003","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Motion generation for bipedal robot using neuro-musculo-skeletal model and Simulated Annealing
We propose a stochastic approach to CPG-based motion generation of a bipedal robot. We make an extension to a motion control system based on a neuro-musculoskeletal model into three dimensions, and give an optimization of control parameters by simulated annealing. Not only do we obtain walking motion by our approach but provide some empirical verification of various walking patterns adaptive to different link structures. In addition to straight walking, this paper gives the performance results of turning walk to right and left.
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