Gait synthesis based on FWN and PD controller for a five-link biped robot
作者： Pengfei Liu , Jiuqiang Han
DOI: 10.1007/11579427_103
关键词: Trajectory 、 Robotics 、 Artificial intelligence 、 Control theory 、 Artificial neural network 、 Open-loop controller 、 PID controller 、 Gait 、 Control theory 、 Computer science
摘要: A new reference walking trajectory for a planar five-link biped, considering both the SSP and DSP, is presented firstly. combined controller to generate gaits following designed subsequently. The of biped consisted PD fuzzy wavelet neural network controller. scalable shiftable coefficients function weights can be acquired by training back-propagation algorithm online. simulation results show that proposed have good stability, repeatability continuity during when given different initial conditions, compatible trajectories achieved correspondingly. trained track as close possible.
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