Sharif Digital Repository

Controlling dynamic biped robots is a complex challenge. Almost all researches in this field assume that the internal structure and dynamics of the robot is known to the controller. But in real-world problems we don't have exact model of the robot or this model is very complicated and is not useful in real-time control. As a matter of fact, we use many devices without any knowledge about their internal structure or analytical models. Some researchers used learning algorithms to control bipeds, but their performance is not comparable to human's learning. Fuzzy controllers can control the bipeds with lower cost, but they need sufficient rules. In the previous works we proposed a linguistic... 

Many actions have been taken by researchers to design an appropriate controller for a quadruped robot. These efforts can be divided into two main categories: analytical and intelligent methods. The analytical method is based on the motion equations of the robot which are mostly complicated. These complication leads to difficulty in implementation. In contrast, there exists intelligent method which is based on the learning algorithms. Despite lots of improvements in the controlling of the quadruped robots, their ability of walking is still far less from the four legged animals' capability. Many researchers believe that four legged animals owe this priority to the learning attribute. Therefore...