Smart Robotic Legs

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

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

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

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