抄録
In this paper, we study an inverse kinematics problem in which the trajectories of walking robot toes are generated under the condition of minimum walking energy. It is important for a walking robot that motions of legs are determined to achieve a desired body operation. A 4-legged walking robot with two rinks and two motors at joints of waist and knee is assumed in this study. A mathematical optimization method is used for optimization of several parameters which describe the trajectory function of toe. We use a neural network controller to obtain trajectory parameters to control walking robot in real time. Some trained neural network controllers for several obstacle shapes are used by changing for each obstacle.
