Recurrent Neural Network Approaches For Biped Walking Robot Based On Zero-moment Point Criterion

The main objective of this paper is to use a recurrent neural network (RNN) to determine the trunk motion for a biped-walking machine, based on the zero-moment point (ZMP) criterion. ZMP criterion can be used to plan a stable gait for a biped-walking machine that has a trunk (inverted pendulum). So, a RNN is trained to determine a compensative trunk motion that makes the actual ZMP get closer to the planned ZMP. In this context, an identification scheme is presented to obtain the vector of parameters of the RNN. A first order standard back-propagation with momentum (BPM) is used to adjust free parameters for the network. Artificial neural network brings up important features for function approximation. This was the main reason to use an RNN to determine the trunk motion. The proposed scheme is simulated on a 10-degree-of-freedom biped robot. The results confirm the convergence of the proposed scheme, proving this is a new way to solve this classical problem in the biped-walking machine area.2516978Bezerra, C.A.D., (2002) A Biped Robot Machine Design for Walking in an Unknown Environment, , School of Mechanical Engineering, the State University of Campinas. Doctoral thesis, in PortugueseGoswami, A., Postural stability of biped robots and the foot-rotation indicator (FRI) point (1999) The International Journal of Robotics Research, 18 (6), pp. 523-533. , JuneJuang, J.-G., Fuzzy neural network approaches for robotics gait synthesis (2000) IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics, 30 (4). , August 2000Li, Q., Learning control of compensative trunk motion for biped walking robot based on ZMP stability criterion (1992) Proceedings of the 1992, IEEE/RSJ International Conference on Intelligent Robots and Systems, , Ralei gh, NC. July, 7-10, 1992Shih, C.-L., Inverse kinematics and inverse dynamics for control of a biped walking machine (1993) Journal of Robotics Systems, 10 (4), pp. 531-555Von Zuben, F.J., (2000) Notas de Aula do Curso IA353 - Redes Neurais, , UNICAMP/FEEC/DCAYamagushi, J.-I., Development of a biped walking robot compensative for three-axis by trunk motion (1992) Proceedings of the 1993, IEEE/RSJ International Conference on Intelligent Robots and Systems, , Yokohama, Japan. July, 26-30, 1993Takanashi, A., Robot biped walking stabilized with trunk motion (1989) Proceedings of ARW on Robotics and Biological Syste