A MODULAR APPROACH TO INTELLIGENT CONTROL OF A SIMULATED JOINTED LEG

Authors
DOERSCHUK PI SIMON WE NGUYEN V LI A
Citation
Pi. Doerschuk et al., A MODULAR APPROACH TO INTELLIGENT CONTROL OF A SIMULATED JOINTED LEG, IEEE robotics & automation magazine, 5(2), 1998, pp. 12-21
Citations number
28
Categorie Soggetti
Robotics & Automatic Control","Robotics & Automatic Control
Journal title
IEEE robotics & automation magazine → ACNP
ISSN journal
10709932
Volume
5
Issue
2
Year of publication
1998
Pages
12 - 21
Database
ISI
SICI code
1070-9932(1998)5:2<12:AMATIC>2.0.ZU;2-P
Abstract
Each module handles one phase of the running stride. A self-organizing fuzzy takeoff controller controls the size and angular momentum of th e stride. A neural network based ballistic controller controls the mov ement of the airborne leg; and a similar landing controller reposition s the leg for takeoff of the next stride.