Paper Info
Title
A novel intelligent control system design for a humanoid robot.
Abstract
This paper presents the design of an intelligent control system for a humanoid robot. A novel fuzzy cerebellar model articulation controller (FCMAC) is proposed; this controller incorporates the fuzzy system inference rule with a CMAC fast learning ability. This FCMAC is a generalization network; in some special cases it can be reduced to a fuzzy neural network or a CMAC. This FCMAC is used as the main controller for the trajectory tracking control of the robot. In this robotic system, an inertial navigation system (INS) including gyroscopes and accelerometers is used to measure the robot's attitude and acceleration for modifying the dynamic attitude of the robot. Moreover, a zero moment point (ZMP) compensator is used to on-line adjust the gait trajectories to improve the walking stability. The control system is implemented based on system on a programmable chip (SoPC) technology. Thus, this intelligent control system can achieve real-time on-line closed-loop feedback control of the humanoid robot. Experimental results show that the developed system can achieve favorable control performance for a high-order nonlinear humanoid robot.
Year
DOI
Venue
2011
10.1109/ICMLC.2011.6016883
ICMLC
Keywords
Field
DocType
attitude control,chip,zero moment point,inertial navigation system,system on chip,trajectory,fuzzy control,accelerometers,inference rule,system design,adaptive system,gyroscopes,real time,humanoid robot,adaptive systems,fuzzy system,control system,feedback,feedback control,fuzzy neural network,humanoid robots,inertial navigation,intelligent control,stability
Robot control,Control theory,Computer science,Control theory,Attitude control,Zero moment point,Control system,Fuzzy control system,Robot,Humanoid robot
Conference
Volume
ISSN
ISBN
3
2160-133X
978-1-4577-0305-8
Citations 
PageRank 
References 
1
0.40
8
Authors
3
Name
Order
Citations
PageRank
Chih-Min Lin191855.05
Chih-Hsuan Chen210.73
Ming-Hung Lin3649.13