Motion control of biped robots in single support phase based on neural network sliding mode approach
Author affiliations
DOI:
https://doi.org/10.15625/1813-9663/30/1/3051Keywords:
Biped robot, inverse dynamics, control, neural networksAbstract
In this paper, an application of 5-link biped robotic control model is presented through the neural network sliding mode approach. The proposed controller showes efficiency and stability in comparision with the PD controller of biped robots with uncertainties and large noise effects.Metrics
Metrics Loading ...
Downloads
Published
09-05-2014
How to Cite
[1]
N. V. Khang and T. Q. Trung, “Motion control of biped robots in single support phase based on neural network sliding mode approach”, JCC, vol. 30, no. 1, pp. 70–80, May 2014.
Issue
Section
Cybernetics
License
1. We hereby assign copyright of our article (the Work) in all forms of media, whether now known or hereafter developed, to the Journal of Computer Science and Cybernetics. We understand that the Journal of Computer Science and Cybernetics will act on my/our behalf to publish, reproduce, distribute and transmit the Work.2. This assignment of copyright to the Journal of Computer Science and Cybernetics is done so on the understanding that permission from the Journal of Computer Science and Cybernetics is not required for me/us to reproduce, republish or distribute copies of the Work in whole or in part. We will ensure that all such copies carry a notice of copyright ownership and reference to the original journal publication.
3. We warrant that the Work is our results and has not been published before in its current or a substantially similar form and is not under consideration for another publication, does not contain any unlawful statements and does not infringe any existing copyright.
4. We also warrant that We have obtained the necessary permission from the copyright holder/s to reproduce in the article any materials including tables, diagrams or photographs not owned by me/us.
