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 105
- Downloads 0
Simulation of an Intelligent Traffic Light using Embedded System
The level of urbanization in developing nations indicates that more people live in cities than before. This increase heaviness on traffic flow and makes living in urban area complex. Traffic control at road junction whic...
Environmental Waste Management in Ilorin Metropolis using Software Application
One of the major causes of death in Ilorin metropolis which is the capital of Ilorin Kwara State is the issue of environmental waste. Wastes are unused and rejected materials from household, schools, industries and highw...
Réalisation d’un système de reconnaissance automatique de la parole arabe base sur CMU Sphinx
This paper presents the continuation of the work completed by Satori and all. [SCH07] by the realization of an automatic speech recognition system (ASR) for Arabic language based SPHINX 4 system. The previous work was li...
Application Of Dimensionality Reduction On Classification Of Colon Cancer Using Ica And K-Nn Algorithm
Several sectors including engineering, health, academics and so on deals with very large number of information and few specimens. This highlight the need of a technique to improve data accuracy in order to enable profess...
Intelligent Car System
In modern life the road safety has becomes the core issue. One single move of a driver can cause horrifying accident. The main goal of intelligent car system is to make communication with other cars on the road. The syst...