Neural network for control of bipeds
ELECTRONICS LETTERS, vol.35, no.23, pp.2064-2065, 1999 (SCI-Expanded, Scopus)
- Publication Type: Article / Article
- Volume: 35 Issue: 23
- Publication Date: 1999
- Doi Number: 10.1049/el:19991385
- Journal Name: ELECTRONICS LETTERS
- Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Page Numbers: pp.2064-2065
- Erciyes University Affiliated: Yes
Abstract
A neural control scheme for bipeds is described. The scheme employs a single neural controller for the whole biped. In this we, the neural controller was a recurrent neural network. Simulation results show that the neural controllers were better than proportional derivative (PD) controllers at rejecting large load disturbances and accommodating different step lengths.