Intelligent extended control of the walking robot motion

Author

Vladareanu, Victor ; Schiopu, Paul ; Mingcong Deng ; Hongnian Yu

Author_Institution

Fac. of Electron., “Politeh.” Univ. of Bucharest, Bucharest, Romania

fYear

2014

fDate

10-12 Aug. 2014

Firstpage

489

Lastpage

495

Abstract

The paper presents the design and simulation of a three degrees-of-freedom robotic device for use in an autonomous robotic platform. The tracking reference for the angular joints is given using a trained neuro-fuzzy model instead of the usual inverse kinematic system. The joint actuators are driven using a selection of position controllers and a comparison for their performance is provided. The paper draws on some previously investigated concepts of great actuality to the field such as neuro-fuzzy networks, Extenics and reduced-base fuzzy control.

Keywords

control engineering computing; fuzzy reasoning; gait analysis; intelligent robots; mobile robots; motion control; neural nets; autonomous robotic platform; intelligent extended control; joint actuators; neurofuzzy model; position controllers; tracking reference; walking robot motion; Fuzzy logic; Inference algorithms; Joints; Kinematics; Legged locomotion; Robot kinematics; Extenics control; neuro-fuzzy training; reduced-base fuzzy control; robotic manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Mechatronic Systems (ICAMechS), 2014 International Conference on

Conference_Location

Kumamoto

Type

conf

DOI

10.1109/ICAMechS.2014.6911594

Filename

6911594