Humanoid Body Control Using Neural Networks and Fuzzy Logic

Abstract

A humanoid robot is assumed to be consisting of a number of rigid links connected through some joints, for simplicity. Relative movement of the links causes motion to the robot during its walking. Realizing the fact that body motion has significant effect on power requirement and overall balance of the robot, a few studies had been reported in the literature. The present chapter deals with the studies related to how to decide and control body movement of a biped robot (that is, simpler version of humanoid robot) while ascending through some staircases by using neural networks and fuzzy logic techniques. Similar studies may be conducted for modeling other types of movement of the robot like staircase descending, ditch crossing, turning, and others.