A study of fuzzy-neural force control for a quadrupedal walking machine

被引：11

作者：

Tsai, CR ^{[1
]}

Lee, TT ^{[1
]}

机构：

[1] Natl Taiwan Univ Sci & Technol, Dept Elect Engn, Taipei, Taiwan

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1998年 / 120卷 / 01期

关键词：

D O I：

10.1115/1.2801308

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this pager, the inverse kinematics and the foot force distributions of a planetary gear type quadrupedal walking machine are analyzed. This walking machine has four legs and each leg has three-degrees-of-freedom. The whole system has a total of seventeen links. The planetary gear leg is designed for a quadruped which can walk and trot under the following design criteria: high efficiency, compact size, and high payload/weight ratio. A neural network structure fuzzy logic controller is applied to control the foot force distribution of the quadruped walking machine. The performance of this fuzzy logic control algorithm is evaluated. Experimental results show that the fuzzy logic controller is effective in controlling this walking machine.

引用

页码：124 / 133

页数：10

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