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題名 | Control Design and Evaluation for Biped Robot Locomotion on Less Structured Surfaces=二足機器人於崎嶇不平地表運動之控制法則設計 |
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作者 | 鄭銘揚; Cheng, M. Y.; Lin,C. S.; |
期刊 | 高苑學報 |
出版日期 | 19980200 |
卷期 | 7:1 1998.02[民87.02] |
頁次 | 頁43-55 |
分類號 | 448.942 |
語文 | eng |
關鍵詞 | 二足機器人; Control design; Biped robot locomotion; |
英文摘要 | Most past studies on control of biped locomotion considered level surfaces. However, in the real world, the ground is rarely completely flat. More research on locomotion on less structured surfaces is needed. In this study, we investigated a control design and evaluation method. Suitable control and trajectory parameters are searched using a Genetic Algorithm (GA). Many sets of parameters are generated through the search and the best set is selected based on a robustness measure developed from the linearized Poincare map. Simulations have been performed. |
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