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Feedback error learning control using adaptive fuzzy network to control one linear actuator hopping robot

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5 Author(s)
S. Kuswadi ; Mech. & Environ. Informatics, Tokyo Inst. of Technol., Japan ; A. Takahashi ; A. Ohnishi ; M. Sampei
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This paper addresses the control method of one linear actuator hopping robot in a plane by using feedback error learning scheme. Adaptive fuzzy network was used in this scheme, and backpropagation techniques utilized as learning algorithm. The robot consists of a body and a leg, which are in contact with a sufficiently wide horizontal ground; both are fixed rigidly. We consider utilizing the starting time of actuation of actuator - when the robot is in stance phase - to control the gait. By simulation, continuous hopping gait was realized.

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Circuits and Systems, 2002. APCCAS '02. 2002 Asia-Pacific Conference on  (Volume:2 )

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