  In this paper the investigation is placed on the hierarchic neuro-fuzzy
systems as a possible solution for biped control. An hierarchic controller for
biped is presented, it includes several sub-controllers and the whole structure
is generated using the adaptive Neuro-fuzzy method. The proposed hierarchic
system focus on the key role that the centre of mass position plays in biped
robotics, the system sub-controllers generate their outputs taken into
consideration the position of that key point.
