Four legged walking robot control using neural networks

Abstract

This paper presents neural network (NN) control of planar four-legged walking robot. The control system consists of a neural controller, standard PD controller and walking robot. Proposed NN is employed as an inverse controller of the robot. In addition to feedforward connections from the input layer to the hidden layer and from the hidden layer to the output layer, there is also feedback connection from the output layer to the hidden layer and from the hidden layer to itself. The reason to use hybrid layer is that robot's dynamics consists of linear and non-linear parts. The results show good performance of the proposed neural and control schemes.