Abstract
In this paper, we propose an autonomous gait pattern for a dynamic biped walking based on a soft-computing approach. Our control strategy takes simultaneously advantage from a Fuzzy-CMAC based computation of robot’s swing leg’s desired trajectory and a high level control strategy allowing regulating the robot’s average velocity. The main interest of this approach is to proffer to the walking robot autonomy and adaptability involving only one parameter: the average velocity. We present results about transition of velocities and we show that the presented control strategy allows to increase robustness of the walking robot according to perturbation forces.
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Sabourin, C., Madani, K., Bruneau, O. (2008). Autonomous Gait Pattern for a Dynamic Biped Walking. In: Cetto, J.A., Ferrier, JL., Costa dias Pereira, J., Filipe, J. (eds) Informatics in Control Automation and Robotics. Lecture Notes Electrical Engineering, vol 15. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-79142-3_11
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DOI: https://doi.org/10.1007/978-3-540-79142-3_11
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