ZMP安定条件を考慮した神経振動ネットワークによる二足歩行パターンの生成

抄録

This paper presents a new scheme for the design of a neural oscillatory network which can be used to generate desired walking pattern trajectories considering ZMP (Zero Moment Point) conditions. The scheme is based on evolutionary computation concepts and has advantages in simplicity, flexibility and high calculation speed. The scheme proved to be effective with the results of simulations.