Gait generation of a two-legged robot by using adaptive network based fuzzy logic control
Küçük Resim Yok
Tarih
2008
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
IEEE
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this paper, a control strategy is proposed for gait generation for a two-legged humanoid robot. The two-legged robot is assumed as a 3-dimensional robot with 5-links. Gait generation is performed by assuming motions in the saggital and lateral planes. Dynamic model of the robot is obtained by using MATLAB (R)/SimMechanics Toolbox. A fuzzy logic controller (FLC) is established for gait generation. The rule-base of the controller is optimized offline by using artificial neural network (NN). The neural networks are trained by using the reference joint trajectories obtained from clinical gait analysis (CGA) [13].
Açıklama
13th International Power Electronics and Motion Control Conference -- SEP 01-03, 2008 -- Poznan, POLAND
Anahtar Kelimeler
Robotics, modelling, fuzzy logic based control, motion control, neural network, humanoid robot, gait generation
Kaynak
2008 13TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE, VOLS 1-5
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
