Gait synthesis based on FWN and PD controller for a five-link biped robot

Authors:
Pengfei Liu;Jiuqiang Han
Affiliations:
School of Electronics and Information Engineering, Xi'an Jiaotong University, Xi'an, P.R.China;School of Electronics and Information Engineering, Xi'an Jiaotong University, Xi'an, P.R.China
Venue:
MICAI'05 Proceedings of the 4th Mexican international conference on Advances in Artificial Intelligence
Year:
2005

Citing 3
Cited 0

Biped Locomotion

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Optimal reference trajectories for walking and running of a biped robot

Robotica
Fuzzy neural network approaches for robotic gait synthesis

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

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Abstract

A new reference walking trajectory for a planar five-link biped, considering both the SSP and the DSP, is presented firstly. A new combined controller to generate walking gaits following the reference trajectory is designed subsequently. The controller of five-link biped is consisted of PD controller and a fuzzy wavelet neural network controller. The scalable and shiftable coefficients of the wavelet function and weights of the network can be acquired by training the network by back-propagation algorithm online. The simulation results of the reference trajectory show that the proposed reference trajectory have good stability, repeatability and continuity during both SSP and the DSP, and when given the different initial conditions, the compatible trajectories can be achieved correspondingly. The simulation results of the trained controller show that the controller can generate the walking gaits to track the reference trajectory as close as possible.