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Published in:
2005 | OriginalPaper | Chapter
Gait Control for Biped Robot Using Fuzzy Wavelet Neural Network
Authors : Pengfei Liu, Jiuqiang Han
Published in: Computational Intelligence and Security
Publisher: Springer Berlin Heidelberg
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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.