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Using Toe-Off Impulse to Control Chaos in the Simplest Walking Model via Artificial Neural Network

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Advances in Neural Networks – ISNN 2009 (ISNN 2009)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 5553))

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Abstract

Controlling chaos in a passive biped robot with an artificial neural network is investigated in this paper. The dynamical model is based on the compass-like biped robot proposed by Garcia et al. (1998) with a point-mass at the hip and infinitesimal point-masses at the feet ignoring the scuffing situation. The governing dynamics and chaotic behavior of the system is explored and the bifurcation diagram is drawn with respect to the ramp slope. Controlling chaos is based on stabilizing the unstable periodic orbits in the chaotic attractor. The UPOs are detected using an iterated algorithm. The artificial neural network is constructed using the information of seven previous steps and the control parameters in each one. The network is trained to find the appropriate control parameter in order to put the next step on the unstable periodic orbit. The control parameter is the toe-off impulse at the heel strike.

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Author information

Authors and Affiliations

  1. Department of Computer Engineering, Islamic Azad University Branch of Ghazvin, Ghazvin, Iran

    Saeed Jamali

  2. School of Electrical Engineering, Amirkabir University of Tehnology, Tehran, Iran

    Karim Faez

  3. Department of Mechanical Engineering, Amirkabir University, Tehran, Iran

    Sajjad Taghvaee

  4. School of Engineering and Computer Sience, Australian National University, Canberra, Australia

    Mostafa Ozlati Moghadam

Authors
  1. Saeed Jamali
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  2. Karim Faez
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  3. Sajjad Taghvaee
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  4. Mostafa Ozlati Moghadam
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Editor information

Editors and Affiliations

  1. Departamento de Control Automático, CINVESTAV-IPN, A.P. 14-740, Av.IPN 2508, 07360, México D.F., México

    Wen Yu

  2. Deptartment of Electrical and Computer Engineering, Stevens Institute of Technology, Hoboken, USA

    Haibo He

  3. Dept. of Electrical and Computer Engineering, South Dakota School of Mines & Technology, 501 E. St. Joseph Street, SD 57701, Rapid City, USA

    Nian Zhang

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© 2009 Springer-Verlag Berlin Heidelberg

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Jamali, S., Faez, K., Taghvaee, S., Ozlati Moghadam, M. (2009). Using Toe-Off Impulse to Control Chaos in the Simplest Walking Model via Artificial Neural Network. In: Yu, W., He, H., Zhang, N. (eds) Advances in Neural Networks – ISNN 2009. ISNN 2009. Lecture Notes in Computer Science, vol 5553. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01513-7_29

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  • DOI: https://doi.org/10.1007/978-3-642-01513-7_29

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-01512-0

  • Online ISBN: 978-3-642-01513-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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