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국내 논문지

홈 홈 > 연구문헌 > 국내 논문지 > 전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

Current Result Document : 12 / 20 이전건 이전건   다음건 다음건

한글제목(Korean Title) 뱀형 모듈라 로봇을 위한 NEAT 기반 제어의 적응성에 대한 주파수 분석
영문제목(English Title) Frequency Analysis of Adaptive Behavior of NEAT based Control for Snake Modular Robot
저자(Author) 이재민   서기성   Jaemin Lee   Kisung Seo  
원문수록처(Citation) VOL 64 NO. 09 PP. 1356 ~ 1362 (2015. 09)
한글내용
(Korean Abstract)
영문내용
(English Abstract)
Modular snake-like robots are robust for failure and have flexible locomotions for obstacle environment than of walking robot. This requires an adaptation capability which is obtained from a learning approach, but has not been analysed as well. In order to investigate the property of adaptation of locomotion for different terrains, NEAT controllers are trained for a flat terrain and tested for obstacle terrains. The input and output characteristics of the adaptation for the neural network controller are analyzed for different terrains in frequency domain.
키워드(Keyword) Modular snake-like robot   (NEAT)Neuro evolution of augmenting topologies   Adaptation   Frequency analysis  
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