• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.4
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• pp.389-395
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• 2006

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.

• The Korean Journal of Applied Statistics
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• v.25 no.3
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• pp.415-422
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• 2012

For statistical microarray data analysis, clustering analysis is a useful exploratory technique and offers the promise of simultaneously studying the variation of many genes. However, most of the proposed clustering methods are not rigorously solved for a time-course microarray data cluster and for a fitting time covariate; therefore, a statistical method is needed to form a cluster and represent a linear trend of each cluster for each gene. In this research, we developed a modified hierarchical mixture of an experts model to suggest clustering data and characterize each cluster using a linear mixed effect model. The feasibility of the proposed method is illustrated by an application to the human fibroblast data suggested by Iyer et al. (1999).

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2573-2576
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• 2003

This paper proposes the controller for biped robot using intelligent control algorithm. The main purpose of this paper is to design the robot controller using Hierarchical Mixture of Experts(HME). The neural network direct control method will be applied to the control scheme for the biped robot and neural network will learn the dynamics of biped robot. The teaming scheme using a intelligent controller to biped robot is developed. The teaming scheme uses a HME controller combined with a inverse biped robot model. The controller provides the control signals at each control time instant. Simulation results are reported for a seven-link biped robot.