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Gait Generation of a Two-Legged Robot by Using Adaptive Network Based Fuzzy Logic Control
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| Author(s) |
Umit Onen |
| Abstract |
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®/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]. |
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| Filename: | 587.pdf |
| Filesize: | 887.4 KB |
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| Type |
Members Only |
| Date |
Last modified 2008-12-07 by System |
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