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http://dx.doi.org/10.5391/JKIIS.2006.16.4.389

The Intelligent Control System for Biped Robot Using Hierarchical Mixture of Experts  

Choi Woo-Kyung (중앙대학교 전자전기공학부)
Ha Sang-Hyung (중앙대학교 전자전기공학부)
Kim Seong-Joo (중앙대학교 전자전기공학부)
Kim Yong-Taek (중앙대학교 전자전기공학부)
Jeon Hong-Tae (중앙대학교 전자전기공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.16, no.4, 2006 , pp. 389-395 More about this Journal
Abstract
This paper proposes the controller for biped robot using intelligent control algorithm. In order to simplify the complexity of biped robot control, manipulator of biped robot is divided into four modules. These modules are controlled by intelligent algorithm with Hierarchical Mixture of Experts(HME) using neural network. Also neural network having direct control method learns the inverse dynamics of biped robot. The HME, which is a network of tree structure, reallocates the input domain for the output by learning pattern of input and output. In this paper, as a result of learning HME repeatedly with EM algorithm, the controller for biped robot operating safety walking is designed by modelling dynamics of biped robot and generating virtual error of HME.
Keywords
Biped Robot; Intelligent Control; Hierarchical Mixture of Experts; Dynamics;
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