Title :
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
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;
Conference_Titel :
Advanced Mechatronic Systems (ICAMechS), 2014 International Conference on
Conference_Location :
Kumamoto
DOI :
10.1109/ICAMechS.2014.6911594
