Journal of Applied Sciences1812-56541812-5662Asian Network for Scientific Information10.3923/jas.2008.3612.3620BigdeliN. AfsharK. LameB.I. ZohrabiA. 122008820In this study, a method for dynamic modeling of a five-link
seven degree of freedom (DOF) biped robot has been developed. The method,
which is based on neural networks, considerably reduces the complexities
in solving the dynamic model equations of the biped robot. Seven neural
networks have been synthesized in order for modeling of the seven DOF
of the robot being the coordinates of the torso center of mass, the torso
angle and the left and right knee and thigh angles. In order for generating
data for neural network training, the robot dynamics while walking on
a non-smooth two-dimensional surface has been has been considered. The
input sets of the trained neural networks consist of four applied torques
in addition to the last sample time value of each output. These fed-back
outputs not only account for the system second order dynamics but also
help on compensating the surface non-smoothness very well. Evaluation
results are representative of high performance and much lower complexity
of the trained networks with respect to the nonlinear second order robot
dynamics model.]]>Almeida, L.B.,19971997Beigzadeh, B., M.N. Ahmadabadi, A. Meghdari and A. Akbarimajd,200856570582Catalão, J.P.S., S.J.P.S. Marian, V.M.F. Mendesb and L.A.F.M. Ferreira,20077712971304Furuta, T., T. Tawara, Y. Okumura, M. Shimizu and K. Tomiyama,20013781100Haavisto, A.O. and B.H. Hyötyniemi,20042004Haykin, S.,19992nd Edn.,Pages: 842Pages: 842Hitomi, K., T. Shibata, Y. Nakamura and S. Ishii,200654982988Huang, Q., K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi and K. Tanie,200117280289Hurmuzlu, Y., F. Génot and B. Brogliato,20044016471664Kong, J.S., E.H. Lee, B.H. Lee and J.G. Kim,20086551558Lope, J.d., T. Zarraonandia, R.G. Careaga and D. Maravall,20032003MATLAB,20082008Mousavi, P.N. and A. Bagheri,2007311837Mousavi P.N., C. Nataraj, A. Bagheri and M.A. Entezari,20083214451462Pao, H.T.,200748907912Saini, L.M. and M.K. Soni,2002149578584Shahidehpour, M., H. Yamin and Z. Li,20021st Edn.,Vukobratovic, M., B. Borovac, D. Surla and D. Stokic,19901st Edn.,Zhou, C. and Q. Meng,2003134169187