Stable Adaptive Control of a Bipedal Walking Robot with CMAC Neural Networks.
Jianjuen J. HuJerry E. PrattGill A. PrattPublished in: ICRA (1999)
Keyphrases
- adaptive control
- nonlinear systems
- neural network
- walking robot
- control method
- feedback control
- variable structure
- reinforcement learning
- fuzzy systems
- control law
- adaptive controller
- dynamic environments
- autonomous control
- cerebellar model articulation controller
- chaotic systems
- neural network model
- artificial neural networks
- closed loop
- fuzzy rules
- data mining
- autonomous robots
- recurrent neural networks
- function approximators
- feed forward
- fuzzy logic
- humanoid robot
- optimal control
- feedforward neural networks
- multilayer perceptron
- fault diagnosis
- walking speed
- control system
- genetic algorithm