The Journal of Korea Robotics Society (로봇학회논문지)
- Volume 1 Issue 2
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- Pages.197-202
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- 2006
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- 1975-6291(pISSN)
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- 2287-3961(eISSN)
Intelligent Walking of Humanoid Robot for Stable Walking on a Decent
휴머노이드 로봇의 경사면 내리막 보행을 위한 지능보행 연구
- Published : 2006.12.31
Abstract
We present the synergy effect of humanoid robot walking down on a slope and support vector machines in this paper. The biped robot architecture is highly suitable for the working in the human environment due to its advantages in obstacle avoidance and ability to be employed as human substitutes. But the complex dynamics in the robot and ground makes robot control difficult. The trajectory of the zero moment point (ZMP) in a biped walking robot is an important criterion used for the balance of the walking robots. The ZMP trajectory as dynamic stability of motion will be handled by support vector machines (SVM). Three kinds of kernels are also employed, and each result from these kernels is compared to one another.