Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Hybrid Control of 5-Link Biped Robot Using a Wavelet Neural Network

웨이블릿 신경회로망을 이용한 5링크 이족로봇의 하이브리드 제어

  • Kim, Chul-Ha (Dept. of Electrical & Electronic Engineering, Yonsei University) ;
  • Choi, Yoon-Ho (School of Electronic Engineering, Kyonggi University) ;
  • Park, Jin-Bae (Dept. of Electrical & Electronic Engineering, Yonsei University)
  • 김철하 (연세대학교 전기전자공학과) ;
  • 최윤호 (경기대학교 전자공학부) ;
  • 박진배 (연세대학교 전기전자공학과)
  • Published : 2005.07.18
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Abstract

Generally, biped walking is difficult to control because a biped robot is a nonlinear system with various uncertainties. In this paper, we propose a hybrid control system to improve the efficiency of position tracking performance of biped locomotion. In our control system, the wavelet neural network (WNN) based on Sliding mode controller is used as a main controller which estimates a biped robot model, and the compensated controller is proposed to compensate the estimation error. A WNN is utilized to estimate uncertain and nonlinear system parameters, where the weights of WNN are trained by adaptive laws that are induced from the Lyapunov stability theorem. Finally, the effectiveness of the proposed control system is verified through computer simulations.

Keywords