Accession Number : ADA312263

Title :   Adaptive Dynamic Balance of Two and Four Legged Walking Robots.

Descriptive Note : Rept. for 20 May-1 Oct 95,

Corporate Author : NEW HAMPSHIRE UNIV DURHAM DEPT OF ELECTRICAL ENGINEERING

Personal Author(s) : Miller, W. T., III

PDF Url : ADA312263

Report Date : 27 OCT 1995

Pagination or Media Count : 3

Abstract : Two-legged and four-legged walking are the most versatile forms of land locomotion in the sense of maneuverability and the ability to traverse irregular terrain. Unfortunately, the problem of practical bipedal walking with dynamic balance has so far eluded solution using classical and other control techniques. We have been investigating the use of neural networks for on-line gait modulation during walking, using a 10 degree-of-freedom biped robot and a 20 degree-of-freedom quadruped robot developed in our laboratory. The research in the current project involves extending our adaptive walking control architecture, developed in prior research, to provide good performance over a wider range of stepping lengths and rates, and to provide good stability during both minor and significant deviations from nominal behavior. This should result in a truly practical control structure for walking with dynamic balance. This is a project progress report for the research carried our prior to October, 1995.

Descriptors :   *ROBOTS, *BALANCE, CONTROL SYSTEMS, NEURAL NETS, LAND TRANSPORTATION, DYNAMICS, WALKING, TERRAIN, ADAPTIVE SYSTEMS, ARCHITECTURE, MODULATION, LOCOMOTION.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE