ELECTRONICS LETTERS, vol.35, no.23, pp.2064-2065, 1999 (SCI-Expanded)
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.