Title :
A modular approach to intelligent control of a simulated jointed leg
Author :
Doerschuk, P. Israel ; Simon, W.E. ; Nguyen, V. ; Li, A.
Author_Institution :
Lamar Univ., Beaumont, TX, USA
fDate :
6/1/1998 12:00:00 AM
Abstract :
Each module handles one phase of the running stride. A self-organizing fuzzy takeoff controller controls the size and angular momentum of the stride. A neural network based ballistic controller controls the movement of the airborne leg; and a similar landing controller repositions the leg for takeoff of the next stride
Keywords :
adaptive control; angular momentum; fuzzy control; intelligent control; legged locomotion; neurocontrollers; self-adjusting systems; size control; airborne leg; angular momentum control; intelligent control; landing controller; modular approach; neural network based ballistic controller; running stride; self-organizing fuzzy takeoff controller; simulated jointed leg; size control; Intelligent control; Intelligent robots; Leg; Legged locomotion; Mobile robots; Motion control; Neural networks; Robot control; Robot kinematics; Robotics and automation; Size control;
Journal_Title :
Robotics & Automation Magazine, IEEE
