Fuzzy logic control of a humanoid robot on unstable terrain

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

研究成果: 書貢獻/報告類型會議貢獻

1 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題RoboCup 2015
主出版物子標題Robot World Cup XIX
編輯Jianmin Ji, Luis Almeida, Sean Luke, Gerald Steinbauer
發行者Springer Verlag
頁面202-213
頁數12
ISBN(列印)9783319293387
DOIs
出版狀態已發佈 - 2015 一月 1
事件19th Annual RoboCup International Symposium, 2015 - Hefei, 中国
持續時間: 2015 七月 232015 七月 23

出版系列

名字Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
9513
ISSN(列印)0302-9743
ISSN(電子)1611-3349

其他

其他19th Annual RoboCup International Symposium, 2015
國家中国
城市Hefei
期間15/7/2315/7/23

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • 引用此

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