Intelligent locomotion control on sloping surfaces

Information Sciences

Volumn 147, Issue 1-4, 2002, Pages 229-243

  Juang, Jih Gau ^a  

^a NATIONAL TAIWAN OCEAN UNIVERSITY   (Taiwan)

Author keywords

Gait synthesis; Intelligent control; Neural networks; Robotic locomotion

Indexed keywords

ALGORITHMS; BACKPROPAGATION; GAIT ANALYSIS; MOTION CONTROL; NEURAL NETWORKS; ROBOT LEARNING;

ROBOTIC LOCOMOTION;

INTELLIGENT CONTROL;

EID: 0036848753     PISSN: 00200255     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0020-0255(02)00266-9     Document Type: Article

References (21)

1. Miller W.T., Kun A.L. Dynamic balance of a biped walking robot. Omidvar O., Smagt P. Neural Systems for Robotics. 1997;17-35 Academic Press, New York.
2. Miller W.T., Lathan P.W., Scalera S.M. Bipedal gait adaptation for walking with dynamic balance. Proceedings of American Control Conference. 1991;1603-1608.
3. Hemami H., Wyman B.F. Modeling and control of constrained dynamic system with application to biped locomotion in frontal plane. IEEE Transactions on Automatic Control. 24(4):1979;526-535.
4. Frank A.A. An approach to the dynamic analysis and synthesis of biped locomotion machines. Medical and Biological Engineering. 8:1970;465-476.
5. Furusho J., Masubuchi M. A theoretically motivated reduced order model for the control of dynamic biped locomotion. Journal of Dynamic Systems, Measurements, and Control. 109:1987;155-163.
6. Pannu S., Kazerooni H., Becker G., Packard A. μ -Synthesis control for a walking robot IEEE Control Systems Magazine. 16(1):1996;20-25.
7. Wong T.C.W., Hung Y.S. Stabilization of biped dynamic walking using gyroscopic couple. Proceedings of the IEEE International Join Symposia on Intelligence and Systems. 1996;102-108.
8. Juang J.-G., Lin C.-S. Gait synthesis of a biped robot using back-propagation through time algorithm. Proceedings of the IEEE International Conference on Neural Networks. vol. 3:1996;1710-1715.
9. Juang J.-G. Intelligent path training of a five-link walking robot. Proceedings of the IEEE International Symposium on Intelligent Control. 1996;1-6.
10. J.-G. Juang, Fuzzy neural networks approaches for robotic gait synthesis, IEEE Transactions on Systems Man and Cybernetics, vol. 30, part B, no. 4, 2000, pp. 594-601.
11. Cheng M.-Y., Lin C.-S. Genetic algorithm for control design of biped locomotion. Journal of Robotic Systems. 14(5):1997;365-373.
12. Cheng M.-Y., Lin C.-S. Measurement of robustness for biped locomotion using a linearized Poincare map. Robotica. 14(3):1996;253-259.
13. Furusho J., Masubuchi M. Control of a dynamical biped locomotion system for steady walking. Journal of Dynamic Systems, Measurement, and Control. 108:1986;111-118.
14. Kurematsu Y., Kitamura S., Kondo Y. Trajectory planning and control of a biped locomotive robot - simulation and experiment. Jamshidi M. Robotics and Manufacturing Recent Trends in Research Education and Applications. 1988;65-72 ASME Press.
15. Hornik K., Stinchcombe M., White H. Universal approximation of an unknown mapping and its derivatives using multilayer feedforward networks. Neural Networks. 3:1990;551-560.
16. Hornik K. Approximation capabilities of multilayer perceptrons. Neural Networks. 4:1991;251-257.
17. d by linear combinations of shifted rotations of a sigmoid function with and without scaling Neural Networks. 5:1992;105-115.
18. Ito Y. Approximation of function on a compact set by finite sums of a sigmoid function without scaling. Neural Networks. 4:1991;385-394.
19. Kosmatopoulos E.B., Chassiakos A.K., Christodoulou M.A. Robot identification using dynamical neural networks. Proceedings of the IEEE Conference on Decision and Control. 1991;2934-2935.
20. D.E. Rumelhart J.L. McClelland, The PDP Research Group, Parallel Distributed Processing, The MIT Press, Cambridge, MA, 1987.
21. Werbos P.J. Backpropagation through time: what it does and how to do it. Proceedings of the IEEE. 78(10):1990;1550-1560.