DocumentCode
1399694
Title
A modular approach to intelligent control of a simulated jointed leg
Author
Doerschuk, P. Israel ; Simon, W.E. ; Nguyen, V. ; Li, A.
Author_Institution
Lamar Univ., Beaumont, TX, USA
Volume
5
Issue
2
fYear
1998
fDate
6/1/1998 12:00:00 AM
Firstpage
12
Lastpage
21
Abstract
Each module handles one phase of the running stride. A self-organizing fuzzy takeoff controller controls the size and angular momentum of the stride. A neural network based ballistic controller controls the movement of the airborne leg; and a similar landing controller repositions the leg for takeoff of the next stride
Keywords
adaptive control; angular momentum; fuzzy control; intelligent control; legged locomotion; neurocontrollers; self-adjusting systems; size control; airborne leg; angular momentum control; intelligent control; landing controller; modular approach; neural network based ballistic controller; running stride; self-organizing fuzzy takeoff controller; simulated jointed leg; size control; Intelligent control; Intelligent robots; Leg; Legged locomotion; Mobile robots; Motion control; Neural networks; Robot control; Robot kinematics; Robotics and automation; Size control;
fLanguage
English
Journal_Title
Robotics & Automation Magazine, IEEE
Publisher
ieee
ISSN
1070-9932
Type
jour
DOI
10.1109/100.692336
Filename
692336
Link To Document