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
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