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Mobile Robots - Moving Intelligence Part 15

Tham khảo tài liệu 'mobile robots - moving intelligence part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Acquisition Of Obstacle Avoidance Actions With Free-Gait For Quadruped Robots 551 y mm Fig. 20. Movement path of the leg 2 and 4. y mm 5.2.2 When all 24 kinds of the order are tried The movement path of the quadruped robot when trying all 24 kinds of the order and avoiding an obstacle is shown in Fig. 21 and the amount of movements of the robot s body Br is shown in Table 5. Here the robot s body height changes with obstacles. For this reason the robot s body height varies as shown in Fig. 20. Compared to the case where the order of swing leg is fixed it is found that the amount of movements of the robot s body is relatively small. x mm Fig. 21. Movement path of the quadruped robot when trying all 24 kinds of the order. AXr k mm AYr k mm Aỡrịk deg Zr k mm Br mm Order of swing leg 22.o2ố 237.002 0.809 300.0 417.078 2 . 3 1 43.958 217.174 -0.818 360.0 372.904 1 2 3 1 45.347 200.484 -0.639 360.0 354.896 1 2 3 1 32.227 189.676 1.413 360.0 362.871 4 2 3 1 12.261 186.691 4.182 360.0 389.931 2 . 4 1 -15.944 241.234 3.894 360.0 520.653 4 2 3 1 -17.443 240.270 4.289 360.0 528.034 4 2 3 1 -18.958 239.279 4.695 300.0 448.019 3 1 4 2 -20.522 238.245 5.122 300.0 446.065 3 1 4 2 -22.187 237.142 5.586 300.0 443.984 3 1 2 Table 5. The amount of movements of the robot s body when trying all 24 kinds of the order. 552 Mobile Robots moving intelligence 5.2.3 When the order of swing leg is determined by RBFNN After training the lower RBFNN the movement path of the quadruped robot determining the order of swing leg and avoiding an obstacle is shown in Fig. 22. The corresponding amount of movements of the robot s body Br is shown in Table 6. Note here that the robot s body height is the same as that shown in Fig. 20. Compared to the case where the order of swing leg is fixed it is observed that the amount of movements of the robot s body is small. However compared with the case where all 24 kinds of the order are tried the amount of movements of t he body was slightly large. 2000 1000 E