Fuzzy neural network approaches for robotic gait synthesis

Abstract

In this paper, a learning scheme using a fuzzy controller to generate walking gaits is developed. The learning scheme uses a fuzzy controller combined with a linearized inverse biped model. The controller provides the control signals at each control time instant. The algorithm used to train the controller is "backpropagation through time". The linearized inverse biped model provides the error signals for backpropagation through the controller at control time instants. Given prespecified constraints such as the step length, crossing clearance, and walking speed, the control scheme can generate the gait that satisfies these constraints. Simulation results are reported for a five-link biped robot.

Artificial Intelligence Approach in Biomechanics of Gait and Sport: A Systematic Literature Review

“…Table 2 summarizes the characteristics of the included studies. Twenty-six articles were considered for assessing the effect of artificial intelligence on biomechanics of gait and sport functions, and eight articles related to the investigations deep learning [ 26 , 27 , 32 , 33 , 35 , 37 , 45 , 46 ], eleven studies on unsupervised learning [ 7 , 8 , 11 - 13 , 17 , 29 , 31 , 34 , 36 , 41 ], three studies on unsupervised learning [ 38 , 39 , 42 ], seven articles concentrated performance-prediction [ 1 , 7 , 8 , 28 , 31 , 34 , 41 ], six articles about accuracy of parameters [ 11 - 13 , 31 , 36 , 43 ], six studies on sports domain [ 7 , 8 , 11 , 30 , 31 , 41 ], and three articles on gait domain [ 40 , 43 , 44 ].…”

“…Moreover, this research has served as a source of inspiration for the creation of artificial locomotor controllers, which are utilized in exoskeletons and robotics. Juang [ 44 ] has suggested a model for synthesizing the gait of robots by employing kinematics principles and utilizing the fuzzy neural network. Kim and Lee [ 40 ] used a Hybrid genetic algorithm and neural network to determine joint angles according to the accelerator data.…”

“…Juang ang Jih-Gau [44] To examine the use of Fuzzy neural network meth-ods in generating robot walking patterns.…”