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A modular approach to intelligent control of a simulated jointed leg

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4 Author(s)
P. I. Doerschuk ; Lamar Univ., Beaumont, TX, USA ; W. E. Simon ; V. Nguyen ; A. Li

Each module handles one phase of the running stride. A self-organizing fuzzy takeoff controller controls the size and angular momentum of the stride. A neural network based ballistic controller controls the movement of the airborne leg; and a similar landing controller repositions the leg for takeoff of the next stride

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IEEE Robotics & Automation Magazine  (Volume:5 ,  Issue: 2 )