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Application of RBFNN for Humanoid Robot Real Time Optimal Trajectory Generation in Running

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Advances in Neural Networks - ISNN 2004 (ISNN 2004)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 3174))

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Abstract

In this paper, a method for trajectory generation in running is proposed with Radial Basis Function Neural Network, which can generate a series of joint trajectories to adjust humanoid robot step length and step time based on the sensor information. Compared with GA, RBFNN use less time to generate new trajectory to deal with sudden obstacles after thorough training. The performance of the proposed method is validated by simulation of a 28 DOF humanoid robot model with ADAMS.

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References

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Author information

Authors and Affiliations

  1. Department of Automation & Research Center of Intelligent Robotics, Shanghai Jiaotong University, Shanghai, 200030, China

    Xusheng Lei & Jianbo Su

Authors
  1. Xusheng Lei
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  2. Jianbo Su
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Editor information

Editors and Affiliations

  1. School of Electronic and Information Engineering, Dalian University of Technology, 116023, Dalian, China

    Fu-Liang Yin

  2. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, China

    Jun Wang

  3. School of Electronic and Information Engineering, Dalian University of Technology, 116023, Dalian, Liaoning, China

    Chengan Guo

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© 2004 Springer-Verlag Berlin Heidelberg

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Lei, X., Su, J. (2004). Application of RBFNN for Humanoid Robot Real Time Optimal Trajectory Generation in Running. In: Yin, FL., Wang, J., Guo, C. (eds) Advances in Neural Networks - ISNN 2004. ISNN 2004. Lecture Notes in Computer Science, vol 3174. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-28648-6_1

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  • DOI: https://doi.org/10.1007/978-3-540-28648-6_1

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-22843-1

  • Online ISBN: 978-3-540-28648-6

  • eBook Packages: Springer Book Archive

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