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Neural control of a fully actuated biped robot
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Neural control of a fully actuated biped robot

Sadati, N.

  1. DOI:10.1109/ROBIO.2006.340116
  2. Main Entry: Sadati, N.
  3. Title:Neural control of a fully actuated biped robot.
  4. Publisher:2006.
  5. Abstract:According to the fact that humans and animals show marvelous abilities in walking on irregular terrain, there is a strong need for adaptive algorithms in walking of biped robots to behave like them. Since the stance leg can easily rise from the ground and it can easily rotate about the toe or the heel, the problem of controlling the biped robots is difficult. In this paper, according to the adaptive locomotion patterns of animals, coordination and control of body links have been done with Central Pattern Generator (CPG) in spinal cord and feedback network from musculoskeletal system. A one layer feedforward neural network that its inputs are the scaled joint variables and the touch sensors of the feet, has been used for modeling the feedback network. Also according to the dynamics of the muscles, PI controllers are used at joints for tracking. Finally, for tuning the parameters of the CPG network and the feedback network, due to the stability of Zero Moment Point (ZMP) and the suitable walking pattern, Genetic Algorithm (GA) has been used. ©2006 IEEE
  6. Notes:Sharif Repository
  7. Subject:Adaptive algorithms.
  8. Subject:Automation.
  9. Subject:Bioelectric phenomena.
  10. Subject:Biomimetics.
  11. Subject:Diesel engines.
  12. Subject:Feedforward neural networks.
  13. Subject:Genetic algorithms.
  14. Subject:Musculoskeletal system.
  15. Subject:Neural networks.
  16. Subject:Programmable robots.
  17. Subject:Robotics.
  18. Subject:Robots.
  19. Subject:Sensor networks.
  20. Subject:Adaptive locomotion.
  21. Subject:biped robots.
  22. Subject:Central pattern generator (CPG)
  23. Subject:Coordination and Control.
  24. Subject:Feed forward (FF)
  25. Subject:Feedback networks.
  26. Subject:Genetic algorithm (GA)
  27. Subject:international conferences.
  28. Subject:Irregular terrain.
  29. Subject:Joint variables.
  30. Subject:Neural control.
  31. Subject:PI controllers.
  32. Subject:Spinal cords.
  33. Subject:touch sensors.
  34. Subject:Walking patterns.
  35. Subject:Zero moment point (ZMP)
  36. Subject:Adaptive control systems.
  37. Added Entry:Hamed, K. A.
  38. Added Entry:Sharif University of Technology.
  39. Source: 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, 17 December 2006 through 20 December 2006 ; 2006 , Pages 1299-1304 ; 1424405718 (ISBN); 9781424405718 (ISBN)
  40. Web Site:https://ieeexplore.ieee.org/document/4142053

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