Neural network for control of bipeds
ELECTRONICS LETTERS, cilt.35, sa.23, ss.2064-2065, 1999 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 35 Sayı: 23
- Basım Tarihi: 1999
- Doi Numarası: 10.1049/el:19991385
- Dergi Adı: ELECTRONICS LETTERS
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Sayfa Sayıları: ss.2064-2065
- Erciyes Üniversitesi Adresli: Evet
Özet
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.