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arXiv · 1402.1283

A Hierarchical fuzzy controller for a biped robot

Abdallah Zaidi·Nizar Rokbani·Adel. M. Alimi
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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.

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Abdallah Zaidi, Nizar Rokbani, Adel. M. Alimi. 2014-02-06. A Hierarchical fuzzy controller for a biped robot. https://arxiv.org/abs/1402.1283

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