文档介绍：Proceedings of the 3d World Congress on Intelligent Control and Automation June 28-July 2,2000, Hefei, . China
Study on Using Wavelet works
for the Gait Control of a Biped Robot
zhang, Ke Qiang, Wenyi Fu, Peichen
(Robot Research Institute, Harbin Institute of Technology Harbin 150001)
Abstract : According to the deficiency in the structure as well as the capability of information storage of the neuron
models used in traditional works, an intelligent neurons assemblage model with generalized wavelet basis
work as its stimulating hnction is proposed in this paper. The wavelet work not only converges much
faster with better nonlinear approaching capability, but also is characterized by its ability in variable-scale adaptive
structure adjustment and the generalized information storage, etc, which guarantee work reflects the biological
prototype much more faithfully. Static and pseudo dynamic learnings are demonstrated to prove the validity of the proposed
mechanism.
Key words : biped robot, wavelet works, unsupervised reinforcement
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