Fuzzy neural network approaches for robotic gait synthesis

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 30, Issue 4, 2000, Pages 594-601

  Juang, Jih Gau ^a  

^a NATIONAL TAIWAN OCEAN UNIVERSITY   (Taiwan)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; BACKPROPAGATION; COMPUTER SIMULATION; CONSTRAINT THEORY; LEARNING SYSTEMS; MEMBERSHIP FUNCTIONS; NEURAL NETWORKS; ROBOTICS;

GAIT SYNTHESIS; LINEARIZED INVERSE BIPED MODEL;

FUZZY CONTROL;

EID: 0034246566     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/3477.865178     Document Type: Article

References (21)

1. S. Murakami, E. Yamamoto, and K. Fujimoto, "Fuzzy control of dynamic biped walking robot," Proc. IEEE Int. Conf. Fuzzy Systems, vol. 1, no. 4, pp. 77-82, 1995.
2. C. L. Shih, W. A. Graver, and Y. Zhu, "Fuzzy logic force control for a biped robot," Proc. IEEE Int. Symp. Intelligent Control, pp. 269-274, 1991.
3. L. Magdalena and F. Monasterio, "Fuzzy controlled gait synthesis of a biped walking machine," Proc. IEEE Int. Conf. Fuzzy Systems, vol. 2, pp. 1334-1339, 1993.
4. _, "Learning gait patterns for the fuzzy synthesis of biped walking," in Proc. Int. Joint Conf. NAFIPS, IFIS and NASA, 1994, pp. 248-250.
5. _, "Evolutionary-based learning applied to fuzzy controllers," Proc. IEEE Int. Conf. Fuzzy Systems, vol. 3, no. 4, pp. 1111-1118, 1995.
6. C. Zhou and K. Jagannathan, "Adaptive network based fuzzy control of a dynamic biped walking robot," Proc. IEEE Int. Joint Symp. Intelligence and Systems, pp. 109-116, 1996.
7. J.-G. Juang and C.-S. Lin, "Gait synthesis of a biped robot using backpropagation through time algorithm," Proc. IEEE Int. Conf. Neural Networks, vol. 3, pp. 1710-1715, 1996.
8. J.-G. Juang, "Intelligent path training of a five-link walking robot," Proc. IEEE Int. Symp. Intelligent Control, pp. 1-6, 1996.
9. P. Werbos, "Backpropagation through time: What it does and how to do it," Proc. IEEE, vol. 78, pp. 1550-1560, Oct. 1990.
10. J. Furusho and M. Masubuchi, "Control of a dynamical biped locomotion system for steady walking," J. Dyn. Syst., Meas., Contr., vol. 108, pp. 111-118, June 1986.
11. Y. F. Zheng and H. Hemami, "Mathematical modeling of a robot collision with its environment," J. Robot. Syst., vol. 2, no. 3, pp. 289-307, 1985.
12. M. Raibert, S. Tzafestas, and C. Tzafestas, "Comparative simulation study of three control techniques applied to a biped robot," Proc. IEEE Int. Conf. Systems, Man and Cybernetics, vol. 1, pp. 494-502, 1993.
13. L. A. Pars, A Treatise on Analytical Dynamics. London, U.K.: Heinemann, 1965, ch. 14.
14. T. Takagi and M. Sugeno, "Fuzzy identification of systems and its applications to modeling and control," IEEE Trans. Syst., Man, Cybern., vol. SMC-15, no. 1, pp. 116-132, 1985.
15. J. R. Jang, "Self-learning fuzzy controllers based on temporal back propagation," IEEE Trans. Neural Networks, vol. 3, pp. 714-723, Sept. 1992.
16. S. Horikawa, T. Furuhashi, and Y. Uchikawa, "On fuzzy modeling using fuzzy neural networks with the back-propagation algorithm," IEEE Trans. Neural Networks, vol. 3, pp. 801-806, Sept. 1992.
17. S. Horikawa, T. Furuhashi, S. Okuma, and Y. Uchikawa, "Composition methods of fuzzy neural networks," Proc. IEEE Int. Conf. Industrial Electronics, Control and Instrumentation, pp. 1253-1258, 1990.
18. S. Horikawa, T. Furuhashi, S. Okuma, and Y Uchikawa, "A fuzzy controller using a neural network and its capability to learn experts control rules," in Proc. Int. Conf. Fuzzy Logic and Neural Networks, 1990, pp. 103-106.
19. C. T. Chen, Linear System Theory and Design. New York: Rinehart, 1990.
20. J. E. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, NJ: Prentice-Hall, 1991.
21. K. Tanaka and M. Sugeno, "Stability analysis and design of fuzzy control systems," Fuzzy Sets Syst., vol. 45, no. 2, pp. 135-156, 1992.