Onen, UmitKalyoncu, MeteTinkir, MustafaBotsali, Fatih M.2020-03-262020-03-262008978-1-4244-1741-4https://dx.doi.org/10.1109/EPEPEMC.2008.4635390https://hdl.handle.net/20.500.12395/2242313th International Power Electronics and Motion Control Conference -- SEP 01-03, 2008 -- Poznan, POLANDIn 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].en10.1109/EPEPEMC.2008.4635390info:eu-repo/semantics/closedAccessRoboticsmodellingfuzzy logic based controlmotion controlneural networkhumanoid robotgait generationConference Object949955N/AWOS:000262093800153N/A