Prescribed synergy method-based hybrid intelligent gait synthesis for biped robot

A prescribed synergy method-based hybrid intelligent gait synthesis scheme is proposed for the problem of biped dynamic balance. It only synthesizes trunk trajectories by the hybrid intelligent system (HIS), while all the other joints´ trajectories are prescribed. Based on HIS, the data fusion theory and the knowledge available, we propose two gait synthesis schemes, one is neurofuzzy-based gait synthesis, and the other is fuzzy rule extraction-based gait synthesis. The proposed gait synthesizers can integrate both linguistic rules obtained from human intuitive balancing knowledge and biomechanical studies and numerical data received from biped walking experiments for improving the biped dynamic walking performance