A Hierarchical fuzzy controller for a biped robot
Robotics
2014-02-07 v1
Abstract
In this paper the investigation is placed on the hierarchic neuro-fuzzy systems as a possible solution for biped control. An hierarchic controller for biped is presented, it includes several sub-controllers and the whole structure is generated using the adaptive Neuro-fuzzy method. The proposed hierarchic system focus on the key role that the centre of mass position plays in biped robotics, the system sub-controllers generate their outputs taken into consideration the position of that key point.
Keywords
Cite
@article{arxiv.1402.1283,
title = {A Hierarchical fuzzy controller for a biped robot},
author = {Abdallah Zaidi and Nizar Rokbani and Adel. M. Alimi},
journal= {arXiv preprint arXiv:1402.1283},
year = {2014}
}
Comments
4 pages- 9 figures. Proc of The 2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR 2013)