Toward a folding-legged uniped that can learn to jump

Abstract

Multiagent neurofuzzy control of folding legged uniped robot locomotion and gymnastics is introduced. The designs and test results of two prototype robots are presented. It is observed that a 3 link folding legged uniped driven by DC motors at its joints can jump off the ground. It is concluded that folding legged uniped robot locomotion and gymnastic learning is possible with multiagent neurofuzzy control.