Autonomous humanoid robot locomotion based on neural networks

摘要

This paper contributes to the problem of humanoid robot gait generation in unknown environments. The intention of the proposed method is to create an autonomous humanoid robot, able to take decisions and generate the appropriate optimal gait based on the information received by the eye system. Up to now, we have created two modules: walking and going upstairs. In order to create an autonomous humanoid robot, we plan to consider other tasks like going downstairs, creeping, obstacle overcoming, etc. In this paper, we present the simulation and experimental results for real time humanoid robot gait generation realized with the “Bonten‐Maru I” humanoid robot. The results showed that the Neural Network modules generate in a very short time a stable humanoid robot motion.