A neural-fuzzy walking control of an autonomous biped robot

被引：0
|
作者：
Ferreira, JP [1 ]
Amaral, TG [1 ]
Pires, VF [1 ]
Crisóstomo, MM [1 ]
Coimbra, AP [1 ]
机构：
[1] Polytech Inst Coimbra, Super Inst Engn Coimbra, P-3040228 Coimbra, Portugal
来源：
ROBOTICS: TRENDS, PRINCIPLES AND APPLICATIONS, VOL 15 | 2004年 / 15卷
关键词：
biped robot; Neural-fuzzy Control; learning; Zero Moment Point;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper an adaptive neural-fuzzy walking control of an autonomous biped robot is proposed. This control system uses a feed forward neural network based on nonlinear regression. The general regression neural network is used to construct the base of an adaptive neuro-fuzzy system. The neural network uses an iterative grid partition method for the initial structure identification of the controller parameters. Comparison results are done between the proposed method and the ANFIS tool provided in the fuzzy MATLAB toolbox. The robot's control system uses an inverted pendulum to balance of the gaits. The effectiveness of the proposed control system is demonstrated by simulation and experimental tests.
引用
收藏
页码：253 / 258
页数：6
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