Intelligent control of an experimental articulated leg for a galloping machine

Palmer, LR; Orin, DE; Marhefka, DW; Schmiedeler, JP; Waldron, KJ

Intelligent control of an experimental articulated leg for a galloping machine

Palmer, LR Orin, DE Marhefka, DW Schmiedeler, JP Waldron, KJ

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Publication Type:: Conference Proceeding
Citation:: Proceedings - IEEE International Conference on Robotics and Automation, 2003, 3 pp. 3821 - 3827
Issue Date:: 2003-12-09

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Field	Value	Language
dc.contributor.author	Palmer, LR	en_US
dc.contributor.author	Orin, DE	en_US
dc.contributor.author	Marhefka, DW	en_US
dc.contributor.author	Schmiedeler, JP	en_US
dc.contributor.author	Waldron, KJ https://orcid.org/0000-0002-7910-4907	en_US
dc.date.issued	2003-12-09	en_US
dc.identifier.citation	Proceedings - IEEE International Conference on Robotics and Automation, 2003, 3 pp. 3821 - 3827	en_US
dc.identifier.issn	1050-4729	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11039
dc.description.abstract	Intelligent controllers are being used with increasing effectiveness on complex systems. This work verifies the effectiveness of fuzzy control, an intelligent method, on a single, articulated-leg that was designed to be used on a high-speed galloping quadruped. Intelligent methods are compared to other control methods in simulation and on the OSU DASH (Dynamic Articulated Structure for High-performance) leg. It is shown that the intelligent controllers outperform non-learning methods. Using fuzzy control, the OSU DASH leg performs stable hopping on a treadmill moving at 2.0 m/s.	en_US
dc.relation.ispartof	Proceedings - IEEE International Conference on Robotics and Automation	en_US
dc.title	Intelligent control of an experimental articulated leg for a galloping machine	en_US
dc.type	Conference Proceeding
utslib.citation.volume	3	en_US
utslib.for	091399 Mechanical Engineering not elsewhere classified	en_US
utslib.for	091303 Autonomous Vehicles	en_US
utslib.for	091302 Automation and Control Engineering	en_US
dc.location.activity	Taipei, Taiwan	en_US
dc.location.activity	ISI:000189412600003
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	3	en_US

Abstract:

Intelligent controllers are being used with increasing effectiveness on complex systems. This work verifies the effectiveness of fuzzy control, an intelligent method, on a single, articulated-leg that was designed to be used on a high-speed galloping quadruped. Intelligent methods are compared to other control methods in simulation and on the OSU DASH (Dynamic Articulated Structure for High-performance) leg. It is shown that the intelligent controllers outperform non-learning methods. Using fuzzy control, the OSU DASH leg performs stable hopping on a treadmill moving at 2.0 m/s.

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http://hdl.handle.net/10453/11039