Evolution of Neuro-Controllers for Trajectory Planning Applied to a Bipedal Walking Robot with a Tail

Gutiérrez Guzmán, Álvaro and Berenger, Fernando Juan and Monasterio-Huelin Maciá, Felix (2008). Evolution of Neuro-Controllers for Trajectory Planning Applied to a Bipedal Walking Robot with a Tail. In: "New Developments in Robotics Automation and Control". InTech Education and Publishing, Croacia, pp. 121-142. ISBN 978-953-7619-20-6.

Description

Title: Evolution of Neuro-Controllers for Trajectory Planning Applied to a Bipedal Walking Robot with a Tail
Author/s:
  • Gutiérrez Guzmán, Álvaro
  • Berenger, Fernando Juan
  • Monasterio-Huelin Maciá, Felix
Editor/s:
  • Lazinica, Aleksandar
Item Type: Book Section
Title of Book: New Developments in Robotics Automation and Control
Título de Revista/Publicación: New Developments in Robotics, Automation and Control
Date: October 2008
ISBN: 978-953-7619-20-6
ISSN: ISBN 978-953-7619-20-6
Subjects:
Faculty: E.T.S.I. Telecomunicación (UPM)
Department: Tecnologías Especiales Aplicadas a la Telecomunicación [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Bipeds are complex hybrid dunamical systems, in the sense that they miz both continuous and discrete-event phenomena (Hurmuzlu et al., 2004). The main characteristic of biped walkers is the abrupt kinematic change between the aerial phase and the support phase accompanied of dynamical impacts. The main problems of these robots is their high power and energy consumption, which limits mainly their autonomy. It could be attributed to, for example, the high number of actuacted joints (about 20), and also because the study of energy consumption is not often considered during the planning of movements.

More information

Item ID: 2968
DC Identifier: http://oa.upm.es/2968/
OAI Identifier: oai:oa.upm.es:2968
Official URL: http://intechweb.org/books.php?sid=11&content=subject
Deposited by: Memoria Investigacion
Deposited on: 05 May 2010 09:08
Last Modified: 20 Apr 2016 12:34
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