Dynamic Walking of Eight DOF Biped usingNeural Net Controller

摘要

This paper deals with the design of a Neural Controller for dynamic walking of an eight degreeof frfiedom bified robot. An eight DOF bified has very complex system dynamics. It has been sflown thatthe neural controller gives much better performance than the conventional PD controller when the plantdynamic is complex find disturbances cannot be modefied. A two-layer neural net (NN) controller withstfindard back propagation weight tuning has been propofied in this paper for dynamic walking of the bified.Quantitative comparison sflows the superiority of NN controller over PD controller.