document: A scalable intelligent takeoff controller for a simulated running jointed leg Running with jointed legs poses a difficult control problem in robotics . Neural controllers are attractive because they allow the robot to adapt to changing environmental conditions . However , scalability is an issue with many neural controllers . The paper describes the development of a scalable neurofuzzy controller for the takeoff phase of the running stride . Scalability is achieved by selecting a controller whose size does not grow with the dimensionality of the problem . Empirical results show that with proper design the takeoff controller scales from a leg with a single movable link to one with three movable links without a corresponding growth in size and without a loss of accuracy
doc_bio_tags: O B I I I O O B I I I O O O O O O O O O O O O B I O O O O O O O O O O B I I O O O B O O O O O B I O O O O O O O O B I I O O B I O O B I O B O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O
extractive_keyphrases: scalable intelligent takeoff controller simulated running jointed leg neural controllers changing environmental conditions scalability scalable neurofuzzy controller takeoff phase running stride
abstractive_keyphrases: intelligent robotic control