AN APPLICATION OF WAVELET NEURAL NETWORKS IN THE BIPED ROBOT'S SLOPE CLIMBING

We found that neuron model is inadequate owing to its defects such as those inherent in its structure and in its capability of information storage. So we propose an intelligent neurons assemblage model with generalized wavelet basis function network as its excited function. Not only the wavelet neural networks' convergence rate is much faster and its nonlinear approach capability is much better but also its intelligent characteristics, such as the variable-scale adaptive adjustment of structure and the generalized information storage, make it reflect much more faithfully the biological original. Static learning and pseudo dynamic learning are demonstrated to prove that the proposed mechanism is valid.