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The Intelligent Controller for Biped Robot Using Neural Network

This paper proposes the controller for biped robot using intelligent control algorithm. The main purpose of this paper is to design the robot controller using Hierarchical Mixture of Experts(HME). The neural network direct control method will be applied to the control scheme for the biped robot and neural network will learn the dynamics of biped robot. The teaming scheme using a intelligent controller to biped robot is developed. The teaming scheme uses a HME controller combined with a inverse biped robot model. The controller provides the control signals at each control time instant. Simulation results are reported for a seven-link biped robot.