Neural Processing Letters

, Volume 38, Issue 2, pp 261–279

Gait Pattern Based on CMAC Neural Network for Robotic Applications


DOI: 10.1007/s11063-012-9257-6

Cite this article as:
Sabourin, C., Yu, W. & Madani, K. Neural Process Lett (2013) 38: 261. doi:10.1007/s11063-012-9257-6


The main goal of this paper is to provide a general methodology and a practical approach for the design of gait pattern for biped robotic applications directly usable by researchers and engineers. This approach, which is based on CMAC neural network, is an alternative way in comparison to the traditional Central Pattern Generator. In the proposed method, the CMAC neural networks are used to learn basic motions (e.g. reference gait) and a Fuzzy Inference System allows to merge these reference motions in order to built more complex gaits. The results of our biped robotic applications show how to design a self-adaptive gait pattern according to average velocity and external perturbations.


CMAC neural network Fuzzy CMAC Gait pattern 

Copyright information

© Springer Science+Business Media New York 2012

Authors and Affiliations

  1. 1.Images, Signals and Intelligence Systems Laboratory (LISSI/EA 3956), Senart-Fontainebleau Institute of TechnologyUPEC UniversityLieusaintFrance
  2. 2.School of Mechatronic EngineeringNorthwestern Polytechnical UniversityXi’anChina

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