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http://dx.doi.org/10.5302/J.ICROS.2006.12.4.315

Use of Support Vector Machines in Biped Humanoid Robot for Stable Walking  

Kim Dong-Won (고려대학교 전기전자전파공학부)
Park Gwi-Tae (고려대학교 전기전자전파공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.4, 2006 , pp. 315-319 More about this Journal
Abstract
Support vector machines in biped humanoid robot are presented in this paper. The trajectory of the ZMP in biped walking robot poses an important criterion for the balance of the walking robots but complex dynamics involved make robot control difficult. We are establishing empirical relationships based on the dynamic stability of motion using SVMs. SVMs and kernel method have become very popular method for learning from examples. We applied SVM to model the practical humanoid robot. Three kinds of kernels are employed also and each result has been compared. As a result, SVM based on kernel method have been found to work well. Especially SVM with RBF kernel function provides the best results. The simulation results show that the generated ZMP from the SVM can be improve the stability of the biped walking robot and it can be effectively used to model and control practical biped walking robot.
Keywords
support vector machines; humanoid robot; stable walking; zero moment point;
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