Neural network for control of bipeds

Yildirim S.

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

  • Publication Type: Article / Article
  • Volume: 35 Issue: 23
  • Publication Date: 1999
  • Doi Number: 10.1049/el:19991385
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.2064-2065
  • Erciyes University Affiliated: Yes


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.