Neural network for control of bipeds

Yildirim S.

ELECTRONICS LETTERS, cilt.35, sa.23, ss.2064-2065, 1999 (SCI-Expanded) identifier identifier

  • 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.