Motion control for humanoid robots based on the concept learning

被引：0

作者：

Kuwayama, K ^{[1
]}

Kato, S ^{[1
]}

Seki, H ^{[1
]}

Yamakita, T ^{[1
]}

Itoh, H ^{[1
]}

机构：

[1] Nagoya Inst Technol, Dept Intelligent & Comp Sci, Nagoya, Aichi, Japan

来源：

MHS2003: PROCEEDINGS OF 2003 INTERNATIONAL SYMPOSIUM ON MICROMECHATRONICS AND HUMAN SCIENCE | 2003年

关键词：

D O I：

10.1109/MHS.2003.1249945

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

This paper proposes a concept learning-based approach to motion control for humanoid robots. In this approach, the motion control system is implemented with decision tree learner for the acquisition of balancing property of itself body and movement and depth first search technique for the motion control based on the knowledge concerning balance and stability in the motion. Some performance results by by humanoid robot HOAP-1 is reported: stable and anti-tumble motions to stand up from a chair.

引用

页码：259 / 263

页数：5

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