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Optimization of Biped Gait Synthesis Using Fuzzy Neural Network Controller

[+] Author Affiliations
Arbnor Pajaziti, Ismajl Gojani, Ahmet Shala

University of Prishtina, Prishtina, Kosova

Peter Kopacek

Vienna University of Technology, Vienna, Austria

Paper No. DETC2005-84191, pp. 565-572; 8 pages
doi:10.1115/DETC2005-84191
From:
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME

abstract

The Biped Robots have specific dynamical constraints and stability problems, which reduce significantly their motion range. In these conditions, path planning and tracking becomes very important. The joint profiles have been determined based on constraint equations cast in terms of step length and high, step period, maximum step height etc. In this paper Fuzzy Neural Network Controller for Path-Planning and Tracking on incline terrain (up stairs) of a planar five-link Biped Robot is presented. The locomotion control structure is based on integration of kinematics and dynamics model of Biped Robot. The proposed Control Scheme and Fuzzy Neural Algorithm could be useful for building an autonomous non-destructive testing system based on Biped Robot. Structure of Fuzzy Neural Network Controller is optimized using Genetic Algorithm. The effectiveness of the method is demonstrated by simulation example using Matlab software.

Copyright © 2005 by ASME

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