This project aims to design and control smart robotic legs for developing complex legged robots.

Design and Equilibrium Control of a Force-Balanced One-Leg Mechanism

(Accepted, MICAI 2018)

Videos of Experimental Results

Here you will find several videos recorded from simulations using the proposed one-leg mechanism reported in the paper.

• Video summary showing the simulation results - Video file

1. Set-point tracking control :
   • conventional-P controller - Video file
   • fuzzy-P controller - Video file
   • P-AOC controller - Video file
2. Set-point tracking control with disturbances:
   • conventional-P controller - Video file
   • fuzzy-P controller - Video file
   • P-AOC controller - Video file
3. Balancing task:
   • conventional-P controller - Video file
   • fuzzy-P controller - Video file
   • P-AOC controller - Video file
   • AHN-RL learner - Video file