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Gait Control for Biped Robot Using Fuzzy Wavelet Neural Network

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Computational Intelligence and Security (CIS 2005)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 3801))

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Abstract

A new reference trajectory of walking on the ground for a five-link biped robot, considering both the SSP and the DSP, is developed firstly. And a fuzzy wavelet neural network controller to generate walking gaits to follow the reference trajectories is presented subsequently. Furthermore, an error compensation algorithm is presented for high accuracy. The reference trajectories are designed by solving the coefficients of time polynomial functions of the trajectories of the hip and the swing tip, through the constraint equations. The FWN controller is trained as inverse kinematic model of the biped robot by backpropagation algorithm offline. Simulation results show that the FWN controller can generate the gaits following the reference trajectories as close as possible, and the error compensation algorithm can decrease the error rapidly by iterative calculation.

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Author information

Authors and Affiliations

  1. School of Electronics and Information Engineering, Xi’an Jiaotong University, Xi’an, 710049, China

    Pengfei Liu & Jiuqiang Han

Authors
  1. Pengfei Liu
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  2. Jiuqiang Han
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Editor information

Editors and Affiliations

  1. Microelectronic Instiute, Xidian University, 710071, Xi’an, China

    Yue Hao

  2. Department of Computer Science, Hong Kong Baptist University, Kowloon Tong, Hong Kong

    Jiming Liu

  3. School of Computer Science and Technology, Xidian University, Xi’an, China

    Yuping Wang

  4. Department of Computer Science, Hong Kong Baptist University, Hong Kong,  

    Yiu-ming Cheung

  5. School of Electrical and Electronic Engineering, University of Manchester, UK

    Hujun Yin

  6. Life Science Research Center, School of Electronic Engineering, Xidian University, 710071, Xi’an, Shaanxi, China

    Licheng Jiao

  7. Key Laboratory of Computer Networks and Information Security (Ministry of Education), Xidian University, 710071, Xi’an, China

    Jianfeng Ma

  8. National Laboratory of Antennas and Microwave Technology, Xidian University, 710071, Xi’an, Shanxi, P.R. China

    Yong-Chang Jiao

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© 2005 Springer-Verlag Berlin Heidelberg

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Liu, P., Han, J. (2005). Gait Control for Biped Robot Using Fuzzy Wavelet Neural Network. In: Hao, Y., et al. Computational Intelligence and Security. CIS 2005. Lecture Notes in Computer Science(), vol 3801. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11596448_19

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  • DOI: https://doi.org/10.1007/11596448_19

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-30818-8

  • Online ISBN: 978-3-540-31599-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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