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Fuzzy Logic Control of a Humanoid Robot on Unstable Terrain [chapter]

Chris Iverach-Brereton, Jacky Baltes, Brittany Postnikoff, Diana Carrier, John Anderson
2015 Lecture Notes in Computer Science  
This paper describes a novel system for enabling a humanoid robot to balance on highly dynamic terrain using fuzzy logic.  ...  We evaluate this system by programming Jimmy, a small, humanoid DARwIn-OP robot, to balance on a bongo board -a simple apparatus consisting of a deck resting on a free-rolling wheel -using our novel fuzzy  ...  Introduction In this paper we present a fuzzy logic control system for controlling a humanoid robot standing on a bongo board.  ... 
doi:10.1007/978-3-319-29339-4_17 fatcat:msb74z2s6zbaxcqu5atxcbg43u


Dusko Katić, Miomir Vukobratović
2005 IFAC Proceedings Volumes  
This paper focusses on the application of intelligent control techniques (neural networks, fuzzy logic and genetic algorithms) and their hybrid forms (neuro-fuzzy networks, neuro-genetic and fuzzy-genetic  ...  algorithms) in the area of humanoid robotic systems.  ...  Fuzzy logic was used mainly as part of control systems on the executive control level, for generating and tuning PID gains, fuzzy control supervising, direct fuzzy control by supervised and reinforcement  ... 
doi:10.3182/20050703-6-cz-1902.01276 fatcat:wrzes2vitbf4rkkfn3c6evxuxe

Active balancing and turning for alpine skiing robots

Chris Iverach-Brereton, Brittany Postnikoff, Jacky Baltes, Amirhossein Hosseinmemar
2016 Knowledge engineering review (Print)  
Based on our previous experience with active balancing on difficult terrain and developing an ice-skating robot, we have implemented a simple control system that allows the humanoid robot Jennifer to steer  ...  around a simple alpine skiing course, brake, and actively control the pitch and roll of the skis in order to maintain stability on hills with variable inclination.  ...  Iverach-Brereton further demonstrated that fuzzy logic controllers were suitable to this task.  ... 
doi:10.1017/s0269888916000163 fatcat:2xw47n24ifatrmymju4osbgvqy

Humanoid Robot Pitch Axis Stabilization using Linear Quadratic Regulator with Fuzzy Logic and Capture Point [article]

Bagaskara Primastya Putra, Gabrielle Satya Mahardika, Muhammad Faris, Adha Imam Cahyadi
2021 arXiv   pre-print
This paper aims for a controller that can stabilize a position-controlled humanoid robot when standing still or walking on synthetic grass even when subjected to external disturbances.  ...  To handle the nonlinearities, the LQR controller is extended with fuzzy logic algorithm that changes the LQR gain value based on angle and angular velocity membership functions.  ...  Fuzzy logic control has also been implemented to stabilize a robot on top of an unstable bongo board platform [18] .  ... 
arXiv:2012.10867v3 fatcat:vmhjkwmmuzcl7abtjab6kli2f4

SelSta - A Biologically Inspired Approach for Self-Stabilizing Humanoid Robot Walking [chapter]

Bojan Jakimovski, Michael Kotke, Martin Hörenz, Erik Maehle
2010 IFIP Advances in Information and Communication Technology  
In this paper we elaborate a study on self-stabilizing humanoid robot that achieves run-time self-stabilization and energy optimized walking gait pattern parameters on different kinds of flat surfaces.  ...  The approach has been practically tested on our S2-HuRo humanoid robot and the results from the tests demonstrate that it can be successfully used on humanoid robots to achieve autonomic optimized stabilization  ...  Namely, the research on humanoid robot walking usually is concentrated on finding a control algorithm for humanoid robot walking where the characteristics of the surface on which the robot is walking are  ... 
doi:10.1007/978-3-642-15234-4_29 fatcat:temaxd5sjvf2zeravpht3cqjrm

Reinforcement Learning Algorithms in Humanoid Robotics [chapter]

Dusko Katic, Miomir Vukobratovic
2007 Humanoid Robots: New Developments  
In spite of a significant progress and accomplishments achieved in the design of a hardware platform of humanoid robot and synthesis of advanced intelligent control of humanoid robots, a lot of work has  ...  Finally, one ought to point out that the problem of motion of humanoid robots is a very complex control task, especially when the real environment is taken into account, requiring as a minimum, its integration  ...  Acknowledgments The work described in this conducted was conducted within the national research project "Dynamic and Control of High-Performance Humanoid Robots: Theory and Application". and was funded  ... 
doi:10.5772/4878 fatcat:brp43tnj35c2lmalaawtv5gv6u

Behaviour based navigational control of humanoid robot using genetic algorithm technique in cluttered environment

Asita Rath, Dayal Parhi, Harish Das, Priyadarshi Kumar
2018 Modelling Measurement and Control A  
The working of the controller has been tested both in simulation and experimental platforms using NAO humanoid robot.  ...  This paper introduces the path planning of a humanoid robot utilizing genetic hereditary calculation.  ...  The path planning for humanoid robot in simulation has been carried out using one robot in the scene with five numbers of obstacles at random locations.  ... 
doi:10.18280/mmc_a.910105 fatcat:5lpd5hjcsnf4xamzmgq2h3jjhe

The man-machine analogy in robotics and neurophysiology

Arthur Prochazka
2002 Journal of Automatic Control  
With the advent of neural nets and fuzzy logic control, robotic devices are taking on more and more of the features of biological control systems.  ...  Index Terms -cybernetic actuator, finite state control, fuzzy logic.  ...  Presently the most advanced walking robot, the Honda Asimo humanoid robot, has three levels of control: 1) local proportional-integral-differential (PID) control about individual joints, 2) finite-state  ... 
doi:10.2298/jac0201004p fatcat:zwabiakj2bfu7jwli2ushxexmy

Versatile Intelligent Portable Robot Control Platform Based on Cyber Physical Systems Principles

Victor VLĂDĂREANU, Ioan DUMITRACHE, Luige VLĂDĂREANU, Ioan Ștefan SACALĂ, Gabriela TONŢ, Mihnea Alexandru MOISESCU
2015 Studies in Informatics and Control  
This paper studies humanoid and walking robot hybrid dynamic control through optimization of the intelligent control methods in order to increase the robot stability on uneven ground, at variable robot  ...  as a Cyber Physical Systems.  ...  By applying fuzzy logic control there is obtained a smooth transition from position control to force and position control in the case of walking robot movement.  ... 
doi:10.24846/v24i4y201505 fatcat:rfjghoq4jbhlbm5elhsrsnv3ua

Action Planning and Design of Humanoid Robot Based on Sports Analysis in Digital Economy Era

2022 International Journal of Multimedia Computing  
In this study, the motion mode of the robot is generated based on the analysis of human sports movement, and the stability of its gait is controlled based on the ZMP control strategy, and the stable walking  ...  Humanoid robot is one of the most active research hotspots in the field of intelligent robot because of its unique walking mode.  ...  It can be seen from the ZMP curve that when the humanoid robot first follows the ground with its left foot (about 100 frames), the control effect based on ZMP is not optimal, and the robot is unstable.  ... 
doi:10.38007/ijmc.2022.030106 fatcat:gpktid3mqzbpfff3eckkf4trey

Synchronizing of Stabilizing Platform Mounted on a Two-Wheeled Robot

Mohammad Rabiul Islam, Mohammad Rubaiyat Tanvir Hossain, Sajal Chandra Banik
2021 Journal of Robotics and Control (JRC)  
This paper represents the designing, building, and testing of a self-stabilizing platform mounted on a selfbalancing robot.  ...  A PID controller is used to control the balancing of the system. The PID controller gains (Kp, Ki, and Kd) were evaluated experimentally.  ...  A motion control of a three-link inverted pendulum on a two-wheeled system, through Interval Type-2 Fuzzy logic Control based on Particle Swarm Optimization [27] .  ... 
doi:10.18196/26136 fatcat:6sg27efx5jcldeweags4vvjxnq

Machine Learning Algorithms in Bipedal Robot Control

Shouyi Wang, Wanpracha Chaovalitwongse, Robert Babuska
2012 IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)  
One of such problems is bipedal walking robot control.  ...  This paper gives a review of recent advances on the stateof-the-art learning algorithms and their applications to bipedal robot control.  ...  A number of researchers have incorporated fuzzy-logic in designing RL controllers for bipedal robots [43] , [118] , [51] .  ... 
doi:10.1109/tsmcc.2012.2186565 fatcat:tchoesxg6rc2vkuh7gtlxxfosa

Table of contents

2010 ICCAS 2010  
Specification to HDL Synthesis: Considerations for Implementing PLC on FPGA and Scope for Research Composite PD and Fuzzy Logic Approach for Vibration Control of Elastic Joint Manipulator 2175 Mohd Ashraf  ...  Integrated Map-matching Algorithm Based on Fuzzy Logic and Dead Reckoning 1139 Yang yanlan, Ye Hua and Fei Shumin FAP-8 A New Remote USB Architecture for Live Migration of Virtual Machines in SoD  ... 
doi:10.1109/iccas.2010.5669694 fatcat:43uj6owxh5c63gr2mn5shli5ja

Simulation and control of multipurpose wheelchair for disabled/elderly mobility

N.M. Abdul Ghani, M.O. Tokhi
2016 Integrated Computer-Aided Engineering  
A modular fuzzy logic control mechanism with integrated phases is introduced for the overall operations and two-wheeled stabilization of the wheelchair.  ...  This paper presents investigations into the development of modelling and control strategies for a multipurpose wheelchair as mobile transporter for elderly and disabled people.  ...  Nakajima, Proposal for step-up gait of RT-mover, a four-995 wheel-type mobile robot for rough terrain with simple leg 996 mechanism, Proceeding of IEEE International Conference on 997 Robotics and Biomimetics  ... 
doi:10.3233/ica-160526 fatcat:ite5uhaadzhhbbtajegnrr23hm

Service Robots: A Systematic Literature Review

In Lee
2021 Electronics  
In light of the great interest and potential of service robots, this study conducts a systematic review of the past and current research in service robots.  ...  A service robot performs various professional services and domestic/personal services useful for organizations and humans in many application domains.  ...  They showed that a combination of fuzzy logic, fuzzy clustering, and probabilistic reasoning achieves iterative fuzzy clustering with supervision for the construction of a probabilistic fuzzy rule base  ... 
doi:10.3390/electronics10212658 fatcat:43vzqhm3pjcjrci77r73sys7wq
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