Short Communication

An FCM-based Design for Balancing of Legged Robots

Robot balancing is a challenging task when it comes to legged platforms, e.g., hexapods and quadrupeds. Fuzzy cognitive map (FCM) is well established as a decision making mechanism with many applications. This study presents the very first application of FCM-based inference for autonomous balancing in standard legged robots with 3-revolute joints, i.e., three degrees of freedom (DoF) per limb. FCM has been utilized for balancing control and placement of feet instead of solving complex Jacobians.

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Omid Motlagh, 2011. An FCM-based Design for Balancing of Legged Robots. Journal of Artificial Intelligence, 4: 295-299.

DOI: 10.3923/jai.2011.295.299

URL: https://scialert.net/abstract/?doi=jai.2011.295.299

Journal of Artificial Intelligence

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Omid Motlagh

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Short Communication

An FCM-based Design for Balancing of Legged Robots

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