Design and implementation of intelligent controllers in soft processors for the walking of a biped robot

Jorge A. Quiñones; Oscar Montiel-Ross; Roberto Sepúlveda; Oscar Castillo

doi:10.13053/CyS-22-4-2691

Design and implementation of intelligent controllers in soft processors for the walking of a biped robot

Jorge A. Quiñones, Oscar Montiel-Ross, Roberto Sepúlveda, Oscar Castillo

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

We present the design, construction, and intelligent control for the walking of a biped robot. The controllers are based on fuzzy logic and neural network. The stability of the robot is controlled by the Zero Moment Poin technique. The controllers were implemented into FPGA technology since its versatility to combine sequential processing for softcore multiprocessors systems as well as the use of concurrent processing using hardware description languages, which allows executing tasks in real time providing the robot with a more natural behavior. We show experimental results.

Translated title of the contribution	Diseño e implementación de controladores inteligentes en procesadores suaves para la caminata de un robot bípedo
Original language	English
Pages (from-to)	1431-1442
Number of pages	12
Journal	Computacion y Sistemas
Volume	22
Issue number	4
DOIs	https://doi.org/10.13053/CyS-22-4-2691
State	Published - 2018

Keywords

Biped robot
FPGA
Inverse kinematics
Neural networks
Soft processors

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Design and implementation of intelligent controllers in soft processors for the walking of a biped robot

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Keywords

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