Abstract
A method for obtaining an approximate solution to the inverse kinematics of a articulated chain is proposed in this paper. Specifically, the method is applied to determine the joint positions of a humanoid robot in locomotion tasks, defining the successive stable robot configurations needed to achieve the final foot position in each step. Our approach is based on the postural scheme method, using artificial neural networks to solve the problem. In this paper we define the restrictions that must be accomplished by the networks and make an exhaustive study about the learning algorithms, transfer functions, training sets composition, data normalization and artificial neural network topologies.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Jordan, M.I., Rumelhart, D.E.: Forward Models: Supervised learning with a distal teacher. Cognitive Science 16, 307–354 (1992)
Xia, Y., Wang, J.: A dual network for kinematic control of redundant robot manipulator. IEEE Trans. on System, Man and Cybernetics, Part B 31(1), 147–154 (2001)
De Lope, J., González-Careaga, R., Zarraonandia, T., Maravall, D.: Inverse kinematics for humanoid robots using artificial neural networks. In: Moreno-Diaz, R., Pichler, F.R. (eds.) Computer Aided Systems Theory, pp. 448–459 (2003)
Vukobratovic, M., Brovac, B., Surla, D., Sotkic, D.: Biped Locomotion. Springer, Berlin (1990)
De Lope, J., Zarraonandia, T., González-Careaga, R., Maravall, D.: Solving the inverse kinematics in humanoid robots: A neural approach. In: Mira, J., Álvarez, J.R. (eds.) IWANN 2003. LNCS, vol. 2687, pp. 177–184. Springer, Heidelberg (2003)
Zarraonandia, T., De Lope, J., Maravall, D.: Definition of postural schemes for humanoid robots. In: Conejo, R., Urretavizcaya, M., Pérez-de-la-Cruz, J.-L. (eds.) CAEPIA/TTIA 2003. LNCS (LNAI), vol. 3040, pp. 241–250. Springer, Heidelberg (2004)
Prieto, B., De Lope, J., Maravall, D.: Reconfigurable hardware implementation of neural networks for humanoid locomotion. In: Mira, J., Álvarez, J.R. (eds.) IWINAC 2005. LNCS, vol. 3562, pp. 395–404. Springer, Heidelberg (2005)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Pereda, J., de Lope, J., Maravall, D. (2006). Comparative Analysis of Artificial Neural Network Training Methods for Inverse Kinematics Learning. In: Marín, R., Onaindía, E., Bugarín, A., Santos, J. (eds) Current Topics in Artificial Intelligence. CAEPIA 2005. Lecture Notes in Computer Science(), vol 4177. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11881216_19
Download citation
DOI: https://doi.org/10.1007/11881216_19
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-45914-9
Online ISBN: 978-3-540-45915-6
eBook Packages: Computer ScienceComputer Science (R0)