ZMP安定条件を考慮した神経振動ネットワークによる二足歩行パターンの生成 [in Japanese] A Neural Oscillatory Network Approach to the Biped Walking Pattern Generation Considering ZMP Condition [in Japanese]
Access this Article
Search this Article
This paper presents a new scheme for the design of a neural oscillatory network which can be used to generate desired walking pattern trajectories considering ZMP (Zero Moment Point) conditions. The scheme is based on evolutionary computation concepts and has advantages in simplicity, flexibility and high calculation speed. The scheme proved to be effective with the results of simulations.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 119(6), 873-879, 1999-06
The Institute of Electrical Engineers of Japan