Fuzzy logic control of a humanoid robot on unstable terrain

Chris Iverach-Brereton, Jacky Baltes, Brittany Postnikoff, Diana Carrier, John Anderson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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 logic system and a PID controller based on our previous work (Baltes et al. [1]). Both control algorithms are tested using two different control policies: “do the shake,” wherein the robot attempts to keep the bongo board’s deck level by CoM manipulation; and “let’s sway,” wherein the robot pumps its legs up and down at regular intervals in an attempt to induce a state of dynamic stability to the system. Our experiments show that fuzzy logic control is equally capable to PID control for controlling a bongo board system.

Original languageEnglish
Title of host publicationRoboCup 2015
Subtitle of host publicationRobot World Cup XIX
EditorsJianmin Ji, Luis Almeida, Sean Luke, Gerald Steinbauer
PublisherSpringer Verlag
Pages202-213
Number of pages12
ISBN (Print)9783319293387
DOIs
Publication statusPublished - 2015 Jan 1
Event19th Annual RoboCup International Symposium, 2015 - Hefei, China
Duration: 2015 Jul 232015 Jul 23

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9513
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other19th Annual RoboCup International Symposium, 2015
CountryChina
CityHefei
Period15/7/2315/7/23

    Fingerprint

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Iverach-Brereton, C., Baltes, J., Postnikoff, B., Carrier, D., & Anderson, J. (2015). Fuzzy logic control of a humanoid robot on unstable terrain. In J. Ji, L. Almeida, S. Luke, & G. Steinbauer (Eds.), RoboCup 2015: Robot World Cup XIX (pp. 202-213). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9513). Springer Verlag. https://doi.org/10.1007/978-3-319-29339-4_17