Artificial neural network application to walk of a four legged robot

Abstract eng:
This 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.

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