Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller
Guillermo A. Castillo,Bowen Weng,Terrence C. Stewart,Wei Zhang,Ayonga Hereid,Guillermo A. Castillo,Bowen Weng,Terrence C. Stewart,Wei Zhang,Ayonga Hereid
This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dynamics (HZD)-based controllers regulate velocity through the implementation of heuristic regulators that do not consider model and environmental uncertainties, which may significantly affect the tracking performance of the...
