A Hierarchical fuzzy controller for a biped robot
This addresses biped robot stability for robotics applications, but it appears incremental as it builds on existing neuro-fuzzy methods.
The paper tackled biped robot control by proposing a hierarchical neuro-fuzzy controller that focuses on the center of mass position, resulting in a system with multiple sub-controllers generated adaptively.
In this paper the investigation is placed on the hierarchic neuro-fuzzy systems as a possible solution for biped control. An hierarchic controller for biped is presented, it includes several sub-controllers and the whole structure is generated using the adaptive Neuro-fuzzy method. The proposed hierarchic system focus on the key role that the centre of mass position plays in biped robotics, the system sub-controllers generate their outputs taken into consideration the position of that key point.