An adaptive controller for a one-legged mobile robot

An adaptive controller based upon the on-line minimization of a performance criteria is described. The adaptive controller is used to improve the performance of a one-legged mobile robot, removing prob lems experienced with previous controllers. The performance of several minimization algorithms is analyzed and, as a result, the Adaptive Step Size Random Search algorithm is selected. Finally, a series of experiments illustrating the ability of the adaptive controller to handle a changing environment is presented.