Abstract: “This paper presents the design of a biped robot using the Cerebellar Model Articulation Controller (CMAC). An inertial navigation system (INS) including gyroscopes and accelerometers is used to measure the robot’s attitude and acceleration for modifying the dynamic attitude of the robot. Moreover, a zero moment point (ZMP) compensator is used to on-line adjust the gait trajectories to improve the walking stability. Experimental results show that the developed system can achieve favorable control performance for the biped robot.”

Keywords: Biped robot, Cerebellar Model Articulation Controller (CMAC), Zero moment point (ZMP).