Fuzzy-stochastic functor machine for general humanoid-robot dynamics

Author

Ivancevic, Vladimir G. ; Snoswell, Mark

Author_Institution

Torson Productions Pty. Ltd., Adelaide, SA, Australia

Volume

31

Issue

3

fYear

2001

fDate

6/1/2001 12:00:00 AM

Firstpage

319

Lastpage

330

Abstract

In this paper the fuzzy-stochastic-Hamiltonian functor-machine is proposed as a general model for the humanoid-robot dynamics, including all necessary degrees of freedom to match the “realistic” human-like motion. Starting with the continual-sequential generalization of the standard state equation for the linear MIMO-systems, the “meta-cybernetic” model of the “functor-machine” is developed as a three-stage nonlinear description of humanoid dynamics: (1) dissipative, muscle-driven Hamiltonian dynamics, (2) stochastic fluctuations and discrete jumps, and (3) fuzzy inputs, parameters and initial conditions. An example of symmetrical three-dimensional (3-D) load-lifting is used to illustrate all the phases in developing the functor-machine model

Keywords

Markov processes; fuzzy set theory; robot dynamics; Hamiltonian dynamics; functor-machine; fuzzy-stochastic; humanoid dynamics; humanoid-robot dynamics; robot dynamics; Artificial intelligence; Equations; Fluctuations; Markov processes; Nonlinear dynamical systems; Nonlinear systems; Power system modeling; Predictive models; Stochastic processes; Stochastic systems;

fLanguage

English

Journal_Title

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

1083-4419

Type

jour

DOI

10.1109/3477.931514

Filename

931514