The Flexible Two-wheeled Self-balancing Robot Intelligence Controlling Based on Boltzmann

摘要：

One new aspect, introduced in this paper, is the modeling of the human lumbar – a spring is added to the robot to imitate lumbar flexibility and curvature. The Bolzmann machine is used to control robots posture based on study, and the flexible robot realizes posture control in the self-organizing capacity. The reasonable energy function is defined for the non-linear and strong coupling robot system, then designing the Bolzmann machine controller. The validity of the system modeling and controller design is verified through simulation, experimental results. The flexible robot likes the human being not only structure, but also physiological intelligence.

作者: Jianwei Zhao Xiaogang Ruan

作者单位: Institute of Artificial Intelligence and Robots,Beijing University of Technology,CO 100124,Beijing,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2090-2095

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）