Exploration for parameters of neuro oscillator for biped robot

摘要

In this study, a nonliner neuro ocillator is used for the generation of biped locomotion. It is required to determin suitble sets of parameters of the oscillator for walking. However, until now there is not good way to do. In this paper, we attenped to get suitble sets of parameters for walking by Simulated Annealing. Then, we use a dynamical simulator and verify that it can continue a biped locomotion by using obtained walking pattern.