000004016 001__ 4016
000004016 005__ 20141118153338.0
000004016 04107 $$acze
000004016 046__ $$k2004-05-10
000004016 100__ $$aBezdíček, M.
000004016 24500 $$aArtificial neural network application to walk of a four legged robot

000004016 24630 $$n10.$$pEngineering Mechanics 2004
000004016 260__ $$bInstitute of Thermomechanics AS CR, v.v.i., Prague
000004016 506__ $$arestricted
000004016 520__ $$2eng$$aThis paper presents simple method to extrapolate walk of a four legged robot. Movement of the robot is actuated by twelve servo-drives. This technique of walking is based on a few stable positions of robot body. To reach smooth movement, is sequence of positions extrapolated by artificial neural network. ANN is trained directly on values of servo angles. The servo angles are corresponding to the stable positions. Created neural network is able to extrapolate any posture for continuously changing input parameter. The input parameter is information about required position of the movement. Outputs of network are values of servo angles. Speed of the movement is dependent on the input parameter alternation rate. Introduced technique of walking is useful for plain surface moving.

000004016 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000004016 653__ $$a

000004016 7112_ $$aEngineering Mechanics 2004$$cSvratka (CZ)$$d2004-05-10 / 2004-05-13$$gEM2004
000004016 720__ $$aBezdíček, M.$$iChmelíček, J.$$iŠvehlák, M.$$iGrepl, R.
000004016 8560_ $$ffischerc@itam.cas.cz
000004016 8564_ $$s615118$$uhttps://invenio.itam.cas.cz/record/4016/files/T-Bezdicek-Milan.pdf$$y
             Original version of the author's contribution as presented on CD, .
            
000004016 962__ $$r4009
000004016 980__ $$aPAPER