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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40947

Title: Bipedal Trajectory Control Based on Neurofuzzy Networks
Authors: Jih-Gau Juang
Contributors: 國立臺灣海洋大學:通訊與導航工程學系
Date: 1998
Issue Date: 2017-02-07T07:11:45Z
Publisher: IEEE International Conference on
Abstract: Abstract: This paper presents a bipedal trajectory control technique based on a neurofuzzy controller and a neural network emulator. The neurofuzzy controller is a five-layered neurofuzzy network, it provides the control signals in each stage of a walking gait. The neural network emulator is a conventional three-layered feedforward neural network. It emulates the robotic dynamics and provides the error signals which can be used to back propagate through the controller in each stage. This technique can generate dynamic walking gaits along a pre-specified reference trajectory on sloping terrain.
Relation: Control Applications, 1998. Proceedings of the 1998
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40947
Appears in Collections:[通訊與導航工程學系] 演講及研討會

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