IEEE - Institute of Electrical and Electronics Engineers, Inc. - Trajectory-based control under ZMP constraint for the 3D biped walking via fuzzy control

2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

Author(s): Hsiu-Ming Wu ; Chih-Lyang Hwang
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 2011
Conference Location: Taipei, Taiwan, Taiwan
Conference Date: 27 June 2011
Page(s): 706 - 712
ISBN (Electronic): 978-1-4244-7317-5
ISBN (Paper): 978-1-4244-7315-1
ISBN (Online): 978-1-4244-7316-8
ISSN (Paper): 1098-7584
ISSN (Online): 1098-7584
DOI: 10.1109/FUZZY.2011.6007507
Regular:

In this study, a fuzzy control policy is presented for dynamic walking of a biped robot that is modeled as a simulated five-link biped robot. Due to complex ground contact models, it is difficult... View More

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