tailieunhanh - Bioinspiration and Robotics Part 8

Tham khảo tài liệu 'bioinspiration and robotics part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 235 Gait Synthesis in Legged Robot Locomotion using a CPG-Based Model Figure 6. Shape modulation and overfitting 4. Proposed Model for Gait Generation ACPO and FFNN In order to overcome the inability to generate different gait modes of the previous model it was included a set of ACPO acting as pacemakers. The FFNN is employed for the space transformation thus solving the drawback of coupled oscillators to generate valid spatial references for the leg. In this new approach it is maintained the main system architecture following the idea of spatiotemporal separation. By the exclusion of a mode input is possible to evaluate the performance of this new model without caring about the overfitting problem which could be addressed using better training processes. In standard geometric models of legged robot locomotion there is a parameter that controls the time of effective support given by each leg and it is called support factor ft . In this model p is included between ACPO outputs and FFNN inputs so it can be controlled without any additional network training or architecture modification. Further details in this model can be obtained in Cappelletto 2006 . System Architecture and Experimental Setup The main system distribution is similar to that employed for the previous model. At the temporal reference there is a set of four coupled oscillators that conforms the ACPO. Each node state vector is passed through a companding curve that modifies its phase according to the support factor p thus providing a direct control over this parameter. The vector modulus is kept unmodified. The resulting vector is feed to the FFNN that performs a nonlinear space transformation into direct joint angle references. The output layer of the neural network is built on linear neurons instead the sigmoid transfer function utilized for the first model. By this way we avoid the use of any extra stage for linear conversion into valid angle references. The complete system architecture can be .

TỪ KHÓA LIÊN QUAN
crossorigin="anonymous">
Đã phát hiện trình chặn quảng cáo AdBlock
Trang web này phụ thuộc vào doanh thu từ số lần hiển thị quảng cáo để tồn tại. Vui lòng tắt trình chặn quảng cáo của bạn hoặc tạm dừng tính năng chặn quảng cáo cho trang web này.