Neuro Adaptive Methods for Biped WalkingUsing tools of artificial intelligence, mainly artificial neural networks, this research focusses on development of an intelligent walking engine for humanoid robots. This engine uses dynamic neural networks with intelligent feedback for gait generation, a modified Zhang neural network for a singularity-robust inverse kinematics solver, and feed-forward neural networks for neuro-adaptive control. The Atlas humanoid robot model in simulation is used to test and verify the capabilities of the neuro-dynamic walking engine. We have been successful in demonstrating that the engine is capable of generating ZMP stable walking gaits and executing them using the Atlas robot in simulation.
Dissertation: Atmeh, Ghassan, "Novel Neuro Dynamic Methods for Robotic Planning and Control", December 2015
YouTube Link: Walking demonstration (Open in a new tab/window if the video doesn't play here)
Biped Model (DRCSim)
Pictures of the Biped Robot and Walking Snapshots
ATLAS Rendering ATLAS Degrees of Freedom Dynamic Neural Network based Trajectory Planner Neuro-Adaptive Control System Robot walking implemented in ROS
- [J2] Atmeh, G., Subbarao, K., "An Intelligent Neuro-Dynamic Walking Engine for Humanoid Robots", IEEE Transactions of Neural Networks , (In Review)
- [J2] Atmeh, G., Subbarao, K., "A Dynamic Neural Network with Feedback for Trajectory Generation", IEEE Transactions of Neural Networks , (In Review)
- [C3] Atmeh, G., Subbarao, K., "A Dynamic Neural Network with Feedback for Trajectory Generation", In Proceedings of the 4th International Conference on Advances in Control and Optimization of Dynamical Systems, NIT Tiruchirapalli, India, February 1-5, 2016
- [C2] Ghassan M. Atmeh, Isura Ranatunga, Dan O. Popa, Kamesh Subbarao, Frank Lewis, and Patrick Rowe, "Implementation of an Adaptive, Model Free, Learning Controller on the Atlas Robot'', American Control Conference, Portland, OR, June 2014.
- [C1] Ghassan Atmeh, Isura Ranatunga, Dan Popa, Kamesh Subbarao, "Indoor Quadrotor State Estimation using Visual Markers'', The 7th ACM International Conference on PErvasive Technologies Related to Assistive Environments (PETRA), May 27-30, 2014, Rhodes, Greece.
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