Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10326900 | Robotics and Autonomous Systems | 2005 | 21 Pages |
Abstract
Gait generation for legged vehicles has since long been considered as an area of keen interest by the researchers. Soft computing is an emerging technique, whose utility is more stressed, when the problems are ill-defined, difficult to model and exhibit large scale solution spaces. Gait generation for legged vehicles is a complex task. Therefore, soft computing can be applied to solve it. In this work, gait generation problem of a two-legged robot is modeled using a fuzzy logic controller (FLC), whose rule base is optimized offline, using a genetic algorithm (GA). Two different GA-based approaches (to improve the performance of FLC) are developed and their performances are compared to that of manually constructed FLC. Once optimized, the FLCs will be able to generate dynamically stable gait of the biped. As the CPU-time of the algorithm is found to be only 0.002âs in a P-III PC, the algorithm is suitable for on-line (real-time) implementations.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Rahul Kumar Jha, Balvinder Singh, Dilip Kumar Pratihar,