Resumen
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.
Título traducido de la contribución | Diseño e implementación de controladores inteligentes en procesadores suaves para la caminata de un robot bípedo |
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Idioma original | Inglés |
Páginas (desde-hasta) | 1431-1442 |
Número de páginas | 12 |
Publicación | Computacion y Sistemas |
Volumen | 22 |
N.º | 4 |
DOI | |
Estado | Publicada - 2018 |