Hybrid Model for Passive Locomotion Control of a Biped Humanoid:The Artificial Neural Network Approach
Developing a correct model for a biped robot locomotion is extremely challenging due to its inherently unstable structure because of the passive joint located at the unilateral foot-ground contact and varying configurations throughout the gait cycle, resulting variation of dynamic descriptions and c...
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| Vydané v: | International journal of interactive multimedia and artificial intelligence Ročník 5; číslo 1; s. 40 - 46 |
|---|---|
| Hlavní autori: | , , |
| Médium: | Journal Article |
| Jazyk: | English |
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IMAI Software
01.06.2018
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| ISSN: | 1989-1660, 1989-1660 |
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| Abstract | Developing a correct model for a biped robot locomotion is extremely challenging due to its inherently unstable structure because of the passive joint located at the unilateral foot-ground contact and varying configurations throughout the gait cycle, resulting variation of dynamic descriptions and control laws from phase to phase. The present research describes the development of a hybrid biped model using an Open Dynamics Engine (ODE) based analytical three link leg model as a base model and, on top of it, an Artificial Neural Network based learning model which ensures better adaptability, better limits cycle behaviors and better generalization while negotiating along a down slope. The base model has been configured according to the individual subjects and data have been collected using a novel technique through an android app from those subjects while walking down a slope. The pattern between the deviation of the actual trajectories and the base model generated trajectories has been found using a back propagation based artificial neural network architecture. It has been observed that this base model with learning based compensation enables the biped to better adapt in a real walking environment, showing better limit cycle behaviors. We also observed the bounded nature of deviation which led us to conclude that the strategy for biped locomotion control is generic in nature and largely dominated by learning. |
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| AbstractList | Developing a correct model for a biped robot locomotion is extremely challenging due to its inherently unstable
structure because of the passive joint located at the unilateral foot-ground contact and varying configurations
throughout the gait cycle, resulting variation of dynamic descriptions and control laws from phase to phase.
The present research describes the development of a hybrid biped model using an Open Dynamics Engine
(ODE) based analytical three link leg model as a base model and, on top of it, an Artificial Neural Network
based learning model which ensures better adaptability, better limits cycle behaviors and better generalization
while negotiating along a down slope. The base model has been configured according to the individual
subjects and data have been collected using a novel technique through an android app from those subjects
while walking down a slope. The pattern between the deviation of the actual trajectories and the base model
generated trajectories has been found using a back propagation based artificial neural network architecture.
It has been observed that this base model with learning based compensation enables the biped to better adapt
in a real walking environment, showing better limit cycle behaviors. We also observed the bounded nature of
deviation which led us to conclude that the strategy for biped locomotion control is generic in nature and largely
dominated by learning. Developing a correct model for a biped robot locomotion is extremely challenging due to its inherently unstable structure because of the passive joint located at the unilateral foot-ground contact and varying configurations throughout the gait cycle, resulting variation of dynamic descriptions and control laws from phase to phase. The present research describes the development of a hybrid biped model using an Open Dynamics Engine (ODE) based analytical three link leg model as a base model and, on top of it, an Artificial Neural Network based learning model which ensures better adaptability, better limits cycle behaviors and better generalization while negotiating along a down slope. The base model has been configured according to the individual subjects and data have been collected using a novel technique through an android app from those subjects while walking down a slope. The pattern between the deviation of the actual trajectories and the base model generated trajectories has been found using a back propagation based artificial neural network architecture. It has been observed that this base model with learning based compensation enables the biped to better adapt in a real walking environment, showing better limit cycle behaviors. We also observed the bounded nature of deviation which led us to conclude that the strategy for biped locomotion control is generic in nature and largely dominated by learning. |
| Audience | Academic |
| Author | Nandi, G.C. Bhaskar-Semwal, Vijay Raj, Manish |
| Author_xml | – sequence: 1 givenname: Manish surname: Raj fullname: Raj, Manish – sequence: 2 givenname: Vijay surname: Bhaskar-Semwal fullname: Bhaskar-Semwal, Vijay – sequence: 3 givenname: G.C. surname: Nandi fullname: Nandi, G.C. |
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| Snippet | Developing a correct model for a biped robot locomotion is extremely challenging due to its inherently unstable structure because of the passive joint located... Developing a correct model for a biped robot locomotion is extremely challenging due to its inherently unstable structure because of the passive joint located... |
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| SubjectTerms | Artificial Neural Networks Back Propagation Algorithms Error Analysis Generic drugs Hybrid Model Legged Locomotion Novels Passive Walking Robots |
| Title | Hybrid Model for Passive Locomotion Control of a Biped Humanoid:The Artificial Neural Network Approach |
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