Survey of intelligent control techniques for humanoid robots

D Katić, M Vukobratović - Journal of Intelligent and Robotic Systems, 2003 - Springer
This paper focusses on the application of intelligent control techniques (neural networks,
fuzzy logic and genetic algorithms) and their hybrid forms (neuro-fuzzy networks, neuro …

Adaptive CMAC-based supervisory control for uncertain nonlinear systems

CM Lin, YF Peng - IEEE Transactions on Systems, Man, and …, 2004 - ieeexplore.ieee.org
An adaptive cerebellar-model-articulation-controller (CMAC)-based supervisory control
system is developed for uncertain nonlinear systems. This adaptive CMAC-based …

Machine learning algorithms in bipedal robot control

S Wang, W Chaovalitwongse… - IEEE Transactions on …, 2012 - ieeexplore.ieee.org
Over the past decades, machine learning techniques, such as supervised learning,
reinforcement learning, and unsupervised learning, have been increasingly used in the …

An efficient interval type-2 fuzzy CMAC for chaos time-series prediction and synchronization

CH Lee, FY Chang, CM Lin - IEEE Transactions on Cybernetics, 2013 - ieeexplore.ieee.org
This paper aims to propose a more efficient control algorithm for chaos time-series
prediction and synchronization. A novel type-2 fuzzy cerebellar model articulation controller …

Dynamic balance of a biped robot using fuzzy reinforcement learning agents

C Zhou, Q Meng - Fuzzy sets and Systems, 2003 - Elsevier
This paper presents a general fuzzy reinforcement learning (FRL) method for biped dynamic
balance control. Based on a neuro-fuzzy network architecture, different kinds of expert …

Walking motion generation, synthesis, and control for biped robot by using PGRL, LPI, and fuzzy logic

THS Li, YT Su, SW Lai, JJ Hu - IEEE Transactions on Systems …, 2010 - ieeexplore.ieee.org
This paper proposes the implementation of fuzzy motion control based on reinforcement
learning (RL) and Lagrange polynomial interpolation (LPI) for gait synthesis of biped robots …

Analytic path planning algorithms for bipedal robots without a trunk

A Albert, W Gerth - Journal of Intelligent and Robotic Systems, 2003 - Springer
This paper presents new path planning algorithms for bipedal robots without a trunk. The
proposed methods can be regarded as an extension to the concept of the inverted …

Dynamic bipedal walking assisted by learning

CM Chew, GA Pratt - Robotica, 2002 - cambridge.org
This paper presents a general control architecture for bipedal walking which is based on a
divide-and-conquer approach. Based on the architecture, the sagittal-plane motion-control …

Implementation of LLCC-resonant driving circuit and adaptive CMAC neural network control for linear piezoelectric ceramic motor

YF Peng, RJ Wai, CM Lin - IEEE Transactions on Industrial …, 2004 - ieeexplore.ieee.org
In this paper, an adaptive cerebellar-model articulation computer (CMAC) neural network
(NN) control system is developed for a linear piezoelectric ceramic motor (LPCM) that is …

Robot learning with GA-based fuzzy reinforcement learning agents

C Zhou - Information Sciences, 2002 - Elsevier
How to learn from both expert knowledge and measurement-based information for a robot to
acquire perception and motor skills is a challenging research topic in the field of …