DocumentCode
2290036
Title
Intelligent control of the running stride of a simulated jointed leg
Author
Doerschuk, Peggy Israel
Author_Institution
Dept. of Comput. Sci., Lamar Univ., Beaumont, TX, USA
Volume
4
fYear
1998
fDate
11-14 Oct 1998
Firstpage
3560
Abstract
This paper presents an intelligent controller for a simulated human-like jointed leg during running. A neuro-fuzzy takeoff controller propels the leg off the ground and produces a running stride of a specified size. A neuro-classical ballistic controller moves the airborne leg along a specified trajectory, scaling any obstacles. A similar landing controller returns the leg to the takeoff position. High accuracy is achieved on a wide range of stride sizes
Keywords
fuzzy control; intelligent control; legged locomotion; motion control; neurocontrollers; robot dynamics; ballistic control; fuzzy control; intelligent control; landing controller; legged locomotion; mobile robot; neurocontrol; running stride; simulated jointed leg; takeoff control; Computational modeling; Computer science; Foot; Intelligent control; Leg; Legged locomotion; Motion control; Propulsion; Size control; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man, and Cybernetics, 1998. 1998 IEEE International Conference on
Conference_Location
San Diego, CA
ISSN
1062-922X
Print_ISBN
0-7803-4778-1
Type
conf
DOI
10.1109/ICSMC.1998.726601
Filename
726601
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