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

Author

Onen, Umit ; KALYONCU, Mete ; Tinkir, Mustafa ; Botsali, Fatih M.

Author_Institution

Dept. of Mech. Eng., Univ. of Selcuk, Konya

fYear

2008

fDate

1-3 Sept. 2008

Firstpage

949

Lastpage

955

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^reg/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].

Keywords

fuzzy control; humanoid robots; knowledge based systems; legged locomotion; neurocontrollers; robot dynamics; MATLAB; SimMechanics Toolbox; adaptive network; artificial neural network; clinical gait analysis; dynamic model; fuzzy logic control; gait generation; reference joint trajectories; two-legged humanoid robot; Adaptive control; Adaptive systems; Artificial neural networks; Fuzzy logic; Fuzzy systems; Humanoid robots; Legged locomotion; Mathematical model; Motion control; Programmable control; Robotics; fuzzy logic based control; gait generation; humanoid robot; modelling; motion control; neural network;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Electronics and Motion Control Conference, 2008. EPE-PEMC 2008. 13th

Conference_Location

Poznan

Print_ISBN

978-1-4244-1741-4

Electronic_ISBN

978-1-4244-1742-1

Type

conf

DOI

10.1109/EPEPEMC.2008.4635390

Filename

4635390