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Intelligent Walking Modeling of Humanoid Robot Using Learning Based Neuro-Fuzzy System
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 Title & Authors
Intelligent Walking Modeling of Humanoid Robot Using Learning Based Neuro-Fuzzy System
Park, Gwi-Tae; Kim, Dong-Won;
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Intelligent walking modeling of humanoid robot using learning based neuro-fuzzy system is presented in this paper. Walking pattern, trajectory of the zero moment point (ZMP) in a humanoid robot is used as an important criterion for the balance of the walking robots but its complex dynamics makes robot control difficult. In addition, it is difficult to generate stable and natural walking motion for a robot. To handle these difficulties and explain empirical laws of the humanoid robot, we are modeling practical humanoid robot using neuro-fuzzy system based on the two types of natural motions which are walking trajectories on a t1at floor and on an ascent. Learning based neuro-fuzzy system employed has good learning capability and computational performance. The results from neuro-fuzzy system are compared with previous approach.
humanoid robot;intelligent walking;learning based neuro-fuzzy system;
 Cited by
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