| 摘要 |
<p>A learning motion control is made by using a hierarchical recurrent neural network. A variety of motion patterns can be created by segmenting a motion pattern taught by a human into parts, automatically in time series, combining the parts, and controlling the motion of the body. Local time-series patterns and a perspective pattern combination of the local time-series patterns are formed by time-series segmentation. The control stability of the motion pattern is ensured since the ZMP stability criteria witch are the indices of the static and dynamic stabilities of body are satisfied.</p> |
