A neuromorphic controller for a three-link biped robot

Summary form only given, as follows. A neural network architecture is developed for the control of a three-link biped walking robot. The proposed neuromorphic controller, based on a hierarchical structure of artificial neural networks, is trained by supervised learning. The training model is derived by applying nonlinear feedback decoupling and an optimal tracking strategy. The neurocontroller utilizes several useful computational features of neural networks-generalization, parameter adaptivity, and robustness. Based on a comparison of the system performance between the optimal control law and that based on the neurocontroller, the authors conclude that the neurocontroller provides superior performance in the presence of large disturbances.<<ETX>>

[1]  Hooshang Hemami,et al.  Nonlinear feedback in simple locomotion systems , 1976 .

[2]  H. Hemami,et al.  An approach to analyzing biped locomotion dynamics and designing robot locomotion controls , 1977 .

[3]  Richard S. Sutton,et al.  Neuronlike adaptive elements that can solve difficult learning control problems , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[4]  I. Shimoyama,et al.  Dynamic Walk of a Biped , 1984 .

[5]  Geoffrey E. Hinton,et al.  Learning internal representations by error propagation , 1986 .

[6]  Richard P. Lippmann,et al.  An introduction to computing with neural nets , 1987 .

[7]  M. Kawato,et al.  Hierarchical neural network model for voluntary movement with application to robotics , 1988, IEEE Control Systems Magazine.

[8]  A. Guez,et al.  A trainable neuromorphic controller , 1988 .

[9]  Tsu-Tian Lee,et al.  Trajectory planning and control of a 3-link biped robot , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[10]  S. Y. Kung,et al.  An algebraic projection analysis for optimal hidden units size and learning rates in back-propagation learning , 1988, IEEE 1988 International Conference on Neural Networks.

[11]  Y. Z. Li,et al.  Trajectory synthesis and physical admissibility for a biped robot during the single-support phase , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[12]  William A. Gruver,et al.  Fuzzy logic force control for a biped robot , 1991, Proceedings of the 1991 IEEE International Symposium on Intelligent Control.