Learning of robot biped walking with the cooperation of a human

Qinghua Li, Atsuo Takanishi, I. Kato

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

In this paper, the authors devise a method that a biped walking robot realizes a learning process of walking stabilization with the cooperation of a human, by considering the learning process of a baby. The authors developed a biped walking robot which has a trunk. They have equipped the robot with a system for measuring the zero moment point (ZMP) of the robot by using universal force-moment sensors and with a mechanical interface for the cooperation. The authors did walking experiments with the biped walking robot, in which a human directly taught the robot the desired ZMP which makes the walking be stable, and the robot learned to stabilize its walking with the cooperation of the human. As a result, the robot obtained the given desired stability by modifying its trunk motion and it achieved stable walking by itself through the process of several learning trials. This kind of function is integral to an anthropomorphic robot, which the authors call a Humanoid, being a human's partner in the future.

本文言語English
ホスト出版物のタイトルProceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
出版社Institute of Electrical and Electronics Engineers Inc.
ページ393-397
ページ数5
ISBN(電子版)0780314077, 9780780314078
DOI
出版ステータスPublished - 1993 1 1
イベント2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993 - Tokyo, Japan
継続期間: 1993 11 31993 11 5

出版物シリーズ

名前Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993

Conference

Conference2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
CountryJapan
CityTokyo
Period93/11/393/11/5

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Communication

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