Paper Info
Title
Comparison of PID and Fuzzy Logic Controllers in Humanoid Robot Control of Small Disturbances.
Abstract
Presence of permanent perturbations during walk requires simultaneous control of dynamic balance preservation and correction of internal synergy to bring it as close as possible to reference one. It is not answered yet in full extent how control for each of these tasks have to be synthesized. In this paper is discussed use of PID and fuzzy control for these purposes. In simulation experiment we applied for dynamic balance preservation only PID controller, but for internal synergy compensation two different controllers (PID and fuzzy) were applied. Obtained results were compared and discussed.
Year
DOI
Venue
2008
10.1007/978-3-642-03558-6_5
Communications in Computer and Information Science
Keywords
Field
DocType
Humanoid robots,ZMP (Zero Moment Point),dynamic balance,fuzzy control
PID controller,Computer science,Simulation,Fuzzy logic,Dynamic balance,Control system,Fuzzy control system,Humanoid robot
Conference
Volume
ISSN
Citations 
33
1865-0929
4
PageRank 
References 
Authors
0.54
5
3
Name
Order
Citations
PageRank
M. K. Vukobratovic188679.12
Branislav Borovac269749.86
Mirko Rakovic34010.84