著者

孫 悠洛 鎌野 琢也 安野 卓 鈴木 茂行 原田 寛信

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌C(電子・情報・システム部門誌) (ISSN:03854221)

巻号頁・発行日

vol.124, no.10, pp.2148-2154, 2004 (Released:2005-01-01)

参考文献数

32

被引用文献数

2 1

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This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environment. The CPGs act as the flexible oscillators of the joints and make the desired angle of the joints. The CPGs are mutually connected each other, and the sets of their coupling parameters are adjusted by genetic algorithm so that the quadruped robot can realize the stable and adequate gait patterns. As a result of generation, the suitable CPG networks for not only a walking straight gait pattern but also rotation gait patterns are obtained. Experimental results demonstrate that the proposed CPG networks are effective to automatically adjust the adaptive gait patterns for the tested quadruped robot under various environment. Furthermore, the target tracking control based on image processing is achieved by combining the generated gait patterns.

著者

佐野 清志 鎌野 琢也 安野 卓 鈴木 茂行 北原 隆行

出版者

一般社団法人 日本風工学会

雑誌

日本風工学会誌

巻号頁・発行日

vol.1998, no.74, pp.5-14, 1998

被引用文献数

1

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This paper describes the use of a self-tuning fuzzy prediction algorithm for wind speed and wind direction in typhoon area. The wind speed and wind direction have been measured by an anemovane on the top of a power-transmission tower. First, the fuzzy prediction rules are adjusted by a tuning algorithm so that the estimated data agree with the measured data for the past typhoon. After tuning process is completed, the wind speed and wind direction for a different typhoon are predicted by using the tuned fuzzy rules and the current data. Simulation results demonstrate the effectiveness of the proposed system.