NDLI: Fuzzy controlled gait synthesis for a biped walking machine

Content Provider	IEEE Xplore Digital Library
Author	Magdalena, L. Monasterio, F.
Copyright Year	1993
Description	Author affiliation: ETSI Telecomunicacion, Univ. Politecnica de Madrid, Spain (Magdalena, L.; Monasterio, F.)
Abstract	The control of biped walking machines is studied by using an intelligent controller. This controller is based on the hierarchically intelligent control approach, proposed by G.N. Saridis (1983), distributing the control in levels according to the principle of decreasing precision with increasing intelligence. This hierarchy has three basic levels: organization, coordination, and execution. In an intermediate level of precision and intelligence the coordination level has a tree structure, with a root called a dispatcher and a finite set of subnodes called coordinators. The development of the walk coordinator which is one of these subnodes. The walk coordinator has been designed as a rule based system that works with fuzzy logic structures. The walk coordinator has two different rule levels called prescription and compensation levels. This division is based on the prescribed synergy method introduced by M. Vukobratovic et al. (1990). The initial rules have been obtained from biomechanical studies of human walking. In addition to the fuzzy controller, some learning modules can be added to the coordinator.<>
Starting Page	1334
Ending Page	1339
File Size	551342
Page Count	6
File Format	PDF
ISBN	0780306147
DOI	10.1109/FUZZY.1993.327586
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-03-28
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Legged locomotion Telecommunication control Robot sensing systems Control systems Intelligent control Telecommunication standards Intelligent structures Tree data structures Fuzzy logic
Content Type	Text
Resource Type	Article

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