02099nas a2200229   4500000000100000000000100001008004100002260001200043653003100055653002200086653002000108653001900128100002500147700001500172700001400187245010700201856009500308300001000403490000600413520143600419022001401855       2018                            d  c06/201810aArtificial Neural Networks10aLegged Locomotion10aPassive Walking10aError Analysis1 aVijay Bhaskar-Semwal1 aManish Raj1 aG C Nandi00aHybrid Model for Passive Locomotion Control of a Biped Humanoid:The Artificial Neural Network Approach  uhttp://www.ijimai.org/journal/sites/default/files/files/2017/10/ijimai_5_1_5_pdf_20509.pdf  a40-460 v53 aDeveloping a correct model for a biped robot locomotion is extremely challenging due to its inherently unstable structure because of the passive joint located at the unilateral foot-ground contact and varying configurations throughout the gait cycle, resulting variation of dynamic descriptions and control laws from phase to phase. The present research describes the development of a hybrid biped model using an Open Dynamics Engine (ODE) based analytical three link leg model as a base model and, on top of it, an Artificial Neural Network based learning model which ensures better adaptability, better limits cycle behaviors and better generalization while negotiating along a down slope. The base model has been configured according to the individual subjects and data have been collected using a novel technique through an android app from those subjects while walking down a slope. The pattern between the deviation of the actual trajectories and the base model generated trajectories has been found using a back propagation based artificial neural network architecture. It has been observed that this base model with learning based compensation enables the biped to better adapt in a real walking environment, showing better limit cycle behaviors. We also observed the bounded nature of deviation which led us to conclude that the strategy for biped locomotion control is generic in nature and largely dominated by learning.  a1989-1660