The Research of Motion Planning of Humanoid Robot

Abstract: This paper proposed a strategy for humanoid robot motion planning using GA-based fuzzy neural network controller, which is stable self-learning fuzzy neural networks control system. The system is composed of two parts: (1) A FNNC which use GA to search optimal fuzzy rules and membership function; (2) A supervisor which use gradient learning algorithm to train the network weights. And we apply this controller to robot motion planning. The simulation result shows its effectiveness