Online bio-inspired trajectory generation of seven-link biped robot based on TS fuzzy system
Presenting a novel online method for trajectory generation of a biped robot. Eliminating the need to solve inverse kinematics for all points on the trajectory. Determining an analytical function for trajectory of all lower-body joint angles. Learning a fuzzy relationship between walking and CPG parameters. Suggesting a natural form for a ZMP trajectory to preserve the dynamic balance.
biped central pattern generators nonlinear oscillators online trajectory generation fuzzy logic