Title :
Experimental validation of a robust control strategy for the robot RABBIT
Author :
Sabourin, Christophe ; Bruneau, Olivier ; Buche, Gabriel
Author_Institution :
Laboratoire Vision et Robotique Ecole Nationale Supérieure d’Ingénieurs de Bourges 10 Bd Lahitolle 18020 BOURGES, France christophe.sabourin@ensi-bourges.fr
Abstract :
In this paper, we propose an experimental validation of a new control strategy based on the use of intuitive control and neural networks CMAC in order to control the under-actuated robot RABBIT. The training of the neural networks is carried out during the simulation. When the training is finished, these neural networks are used to control the real robot. We also present an evaluation of the robustness of this control strategy.
Keywords :
CMAC neural networks; Dynamic walking gait; Robustness; Under-actuated biped robot; Humanoid robots; Humans; Legged locomotion; Neural networks; Prototypes; Rabbits; Robot control; Robot vision systems; Robotics and automation; Robust control; CMAC neural networks; Dynamic walking gait; Robustness; Under-actuated biped robot;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570471
