Adaptive Neural Network Control of Biped Robots

Abstract

In this paper, neural network control strategies based on radial basis functions are designed for biped robots, which includes balancing and posture control. To deal with system uncertainties, neural networks are used to approximate the unknown model of the robot. Both full state feedback control and output feedback control are considered in this paper. With the proposed control, the trajectories of the closed-loop system are semiglobally uniformly bounded which can be proved via Lyapunov stability theorem. Simulations are also carried out to illustrate the effectiveness of the proposed control.