Gait generation of a two-legged robot by using adaptive network based fuzzy logic control

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dc.contributor.authorOnen, Umit
dc.contributor.authorKalyoncu, Mete
dc.contributor.authorTinkir, Mustafa
dc.contributor.authorBotsali, Fatih M.
dc.date.accessioned2020-03-26T17:26:57Z
dc.date.available2020-03-26T17:26:57Z
dc.date.issued2008
dc.departmentSelçuk Üniversitesien_US
dc.description13th International Power Electronics and Motion Control Conference -- SEP 01-03, 2008 -- Poznan, POLANDen_US
dc.description.abstractIn 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].en_US
dc.description.sponsorshipPoznan Univ, Fac elect Engn, Polish Soc Theoret & Appl Elect Engn, Poznan Secten_US
dc.identifier.doi10.1109/EPEPEMC.2008.4635390en_US
dc.identifier.endpage955en_US
dc.identifier.isbn978-1-4244-1741-4
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage949en_US
dc.identifier.urihttps://dx.doi.org/10.1109/EPEPEMC.2008.4635390
dc.identifier.urihttps://hdl.handle.net/20.500.12395/22423
dc.identifier.wosWOS:000262093800153en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartof2008 13TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE, VOLS 1-5en_US
dc.relation.ispartofseriesInternational Power Electronics and Motion Control Conference EPE PEMC
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.selcuk20240510_oaigen_US
dc.subjectRoboticsen_US
dc.subjectmodellingen_US
dc.subjectfuzzy logic based controlen_US
dc.subjectmotion controlen_US
dc.subjectneural networken_US
dc.subjecthumanoid roboten_US
dc.subjectgait generationen_US
dc.titleGait generation of a two-legged robot by using adaptive network based fuzzy logic controlen_US
dc.typeConference Objecten_US

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