Abstract
Using tools from artificial intelligence, mainly artificial neural networks, this paper presents an walking-engine for humanoid robots. This engine uses dynamic neural networks with feedback for gait generation, a modified Zhang neural network for a singularity-robust inverse kinematics solver, and feedforward neural networks for neuro-adaptive control. The Atlas humanoid robot model in simulation is used to test and verify the capabilities of the neuro-dynamic walking engine. Results show that the engine is capable of generating conventional ZMP stable walking gaits and executing them using the Atlas robot in simulation.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
