Genetic design of biped walking fuzzy logic controller

Author

Cardenas, Selene ; Castillo, Oscar ; Aguilar, Luis T. ; Rodriguez, Antonio

Author_Institution

Fac. de Cienc. Quimicas e Ing., Univ. Autonoma de Baja California, Tijuana

fYear

2009

fDate

March 30 2009-April 2 2009

Firstpage

7

Lastpage

12

Abstract

This paper presents the automatic design, through a multi-objective genetic algorithm, of a fuzzy logic controller (FLC) applied to walking of a biped robot. The design approach of the FLC comprises two aspects: tuning the antecedents and consequents membership functions parameters and obtain the antecedents and consequents fuzzy partition of a rule base with a fixed structure such that allow to perform tracking of a walking pattern. Optimization results of the FLC design for a 3-DOF biped robot and the tracking results are provided.

Keywords

fuzzy control; genetic algorithms; legged locomotion; 3-DOF biped robot; automatic design; biped walking fuzzy logic controller; fuzzy partition; membership functions parameters; multi-objective genetic algorithm; Algorithm design and analysis; Automatic control; Design optimization; Fuzzy logic; Genetic algorithms; Leg; Legged locomotion; Process design; Robot kinematics; Torso;

fLanguage

English

Publisher

ieee

Conference_Titel

Hybrid Intelligent Models and Applications, 2009. HIMA '09. IEEE Workshop on

Conference_Location

Nashville, TN

Print_ISBN

978-1-4244-2758-1

Type

conf

DOI

10.1109/HIMA.2009.4937818

Filename

4937818