Intelligent control of an experimental articulated leg for a galloping machine

Author

Palmer, Luther R. ; Orin, David E. ; Marhefka, Duane W. ; Schmiedeler, James P. ; Waldron, Kenneth J.

Author_Institution

Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

3821

Abstract

Intelligent controllers are being used with increasing effectiveness on complex systems. This work verifies the effectiveness of fuzzy control, an intelligent method, on a single, articulated-leg that was designed to be used on a high-speed galloping quadruped. Intelligent methods are compared to other control methods in simulation and on the OSU DASH (Dynamic Articulated Structure for High-performance) leg. It is shown that the intelligent controllers outperform non-learning methods. Using fuzzy control, the OSU DASH leg performs stable hopping on a treadmill moving at 2.0 m/s.

Keywords

fuzzy control; intelligent control; learning (artificial intelligence); legged locomotion; 2 m/s; Levenberg-Marquardt learning; articulated leg; controllers; dynamic articulated structure; fuzzy control; high speed galloping quadruped; intelligent control; nonlearning methods; Biological systems; Control systems; Foot; Fuzzy control; Intelligent control; Kinematics; Land vehicles; Leg; Legged locomotion; Springs;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242183

Filename

1242183