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Evolution of Neuro-Controllers for Trajectory Planning Applied to a Bipedal Walking Robot with a Tail
Citation
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 |
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| Author/s: |
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| Editor/s: |
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| 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 |
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 |
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| DC Identifier: | https://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 |
