A Hybrid Neural Network Controller for Stable Walking of a Humanoid Soccer Robot
Journal Title: Annals. Computer Science Series - Year 2010, Vol 8, Issue 2
Abstract
This paper describes the hardware and software design of the kid size humanoid robot systems of the PERSIA Team in 2009. This year, our developments for the humanoid robot is include: the design and construction of our new humanoid robots structure and implementation a new recurrent hybrid neural network for walking control. The control system consists of two neural network controllers, two standard PD controllers and robot walking planar. The proposed neural network controller has three layers, which are input, hidden and output layers. The project is described in two main parts: Hardware and Software. The hardware section consists of the mechanical structure and the driver circuit board that Each robot is able to walk, fast walk, autonomously get up, kick and dribble when it catches the ball and The software is developed a robot application which consists of motion controller, autonomous motion robot, self localization based on vision system, AI, Trajectory planning and Network. The project is still in progress and some new interesting methods are described in the current report.
Authors and Affiliations
S. H. Kasaei, S. M. Kasaei
Keywords
Related Articles
- EP ID EP129544
- DOI -
- Views 103
- Downloads 0
Prevalence and perceived risks of drug use among undergraduate students from Timis County: a cross-sectional study
The aim of this study is to identify prevalence of drug use and to examine undergraduate students’ perceived risks of substance use in Timis County area. This study is part of a type A grant financed by the National Univ...
A Minimal Closure Algorithm for Quantifying Impact of Requirement Changes on Network Performance
In network systems design, it is often difficult to quantify the impact of network performance brought by the requirement changes because of the complexities and dependencies among the changed and unchanged requirements....
Aspects of SOA: An Entry Point for Starters
Because Service-Oriented Architecture (SOA) is one of the hottest topics that is currently gaining momentum, and the number of its adopters (both business and IT executives) is increasing in a tremendous manner, it is re...
On the Role of Service Concept in IT
Hard times affecting world-wide economy have strong consequences and are challenging IT departments from all sorts of enterprises. Expensive software projects are replaced by component-based agile systems and paradigms l...
A Study On Efficient Automatic Speech Recognition System Techniques And Algorithms
Automatic speech recognition is a system by which computer recognizes and responds accordingly to a spoken words of a person on the basis of his or her voice signal waveform. ASR system is being adopted in different aspe...