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ICRA
2003
IEEE

Intelligent control of an experimental articulated leg for a galloping machine

10 years 6 months ago
Intelligent control of an experimental articulated leg for a galloping machine
Intelligent controllers are being used with increasing effectiveness on complex systems. This work verifies the effectiveness of fuzzy control, an intelligent method, on a single, articulated-leg that was designed to be used on a high-speed galloping quadruped. Intelligent methods are compared to other control methods in simulation and on the OSU DASH (Dynamic Articulated Structure for High-performance) leg. It is shown that the intelligent controllers outperform nonlearning methods. Using fuzzy control, the OSU DASH leg performs stable hopping on a treadmill moving at 2.0 m/s.
Luther R. Palmer, David E. Orin, Duane W. Marhefka
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors Luther R. Palmer, David E. Orin, Duane W. Marhefka, James P. Schmiedeler, Kenneth J. Waldron
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