Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
권호 표지

A New Adaptive Fuzzy Approach for Control of a Bipedal Robot

이족 보행 로봇 제어에 대한 새로운 적응 퍼지 접근방법

  • Hwang, Jae-Pil (School of Electrical and Electronic Engr., Yonsei Univ.) ;
  • Kim, Eun-Tai (School of Electrical and Electronic Engr., Yonsei Univ.)
  • 황재필 (연세대학교 전기전자공학과) ;
  • 김은태 (연세대학교 전기전자공학과)
  • Published : 2005.09.25
Download PDF
⟨ Previous Next ⟩

Abstract

Over the last few years, the control of bipedal robot has been considered a promising but difficult research field in the community of robotics. In this paper, a new robust output control method for a bipedal robot is proposed using the adaptive fuzzy logic. The adaptive fuzzy logic is used as an system approximator to cancel the unknown uncertainty. First, a model for a bipedal robot including switching leg influence, uncertainty and disturbance is presented. Second, a controller is designed in which the joint velocity measurement is not required. Fuzzy approximation error estimator is inserted in the system for tuning the fuzzy logic. Finally, the result of the computer simulation is presented to show the validity of the suggested control method.

최근 수 년 동안 이족보행 로봇 제어는 로봇 분야에서 각광을 받는 분야인 한편, 어려운 분야이기도 하다. 본 논문에서는 이족보행 로봇을 위한 적응 퍼지 논리를 이용한 새로운 강인한 제어 방법을 제안한다. 적응 퍼지 논리는 알려지지 않은 불확실성을 제거하기 위한 시스템 추정기로 사용된다. 우선 발바꿈과 불확실성, 외란 등의 영향을 포함한 로봇 모델을 제안한다. 다음, 관절의 속도 측정을 하지 않는 제어기를 설계한다. 퍼지 논리를 튜닝하기 위하여 퍼지 추정 오차 관측기를 시스템에 포함시켰다. 마지막으로 제어방법의 타당성을 보이기 위하여 시뮬레이션 결과를 보여준다.

Keywords

References

  1. W. T. Miller III, 'Real-time neural network control of a biped walking robot,' IEEE Contr. Syst. Magazine, Vol. 1 , April 1996, vol. 14 ,pp 41-48 https://doi.org/10.1109/37.257893
  2. C. Zhou and D. Ruan, 'Integration of linguistic and numerical information for biped control,' Robotics and Autonomous Syst., vol. 28, 31 July 1999, pp. 53-70 https://doi.org/10.1016/S0921-8890(99)00029-9
  3. H. K. Lum, M. Zribi and Y. C. Soh, 'Planning and control of a biped robot' Intern. Jour. of Eng. Sci., vol. 37, Issue 10, August 1999, pp 1319-1349 https://doi.org/10.1016/S0020-7225(98)00118-9
  4. Z. Liu and C. Li, 'Fuzzy neural network quadratic stabilization output feedback control for biped robots via $H{\infty}$ approach' IEEE Trans. Syst. Man and Cybern., Part B, Vol. 33 , Issue: 1 , Feb. 2003 pp. 67 - 84 https://doi.org/10.1109/TSMCB.2003.808177
  5. S. Nicosia and P. Tomei, 'Robot control by using only joint position measurements,' IEEE Trans. Automat. Contr., vol. 35, pp. 1058-1061, Sept. 1990 https://doi.org/10.1109/9.58537
  6. C. C. C. Canudas deWit and N. Fixot, 'Adaptive control of robot manipulators via velocity estimated feedback,' IEEE Trans. Automat. Contr., vol. 37, pp. 1234-1237, Sept. 1992 https://doi.org/10.1109/ROBOT.1991.131545
  7. --, 'Robot control via robust estimated state feedback,' IEEE Trans. Automat. Contr., vol. 36, pp. 1497-1501, Oct. 1991 https://doi.org/10.1109/9.106170
  8. L.-X. Wang, A Course in Fuzzy Systems and Control. Upper Saddle River, NJ: Prentice-Hall, 1997
  9. L. X. Wang, 'Stable adaptive fuzzy control of nonlinear systems,' IEEE Transaction on Fuzzy Systems, Vol. 1, pp. 146-155, 1993 https://doi.org/10.1109/91.227383
  10. --, Adaptive Fuzzy Systems and Control. Upper Saddle River, NJ: Prentice-Hall, 1994
  11. B. S. Chen, C. H. Lee, and Y. C. Chang, 'Hl tracking design of uncertain nonlinear SISO systems: adaptive fuzzy approach,' IEEE Trans. Fuzzy Syst., vol. 4, pp. 32-43, Feb. 1996 https://doi.org/10.1109/91.481843
  12. Y. G. Leu, T. T. Lee, and W. Y. Wang, 'Observer-based adaptive fuzzyneural control for unknown nonlinear dynamic systems,' IEEE Trans. Syst. Man Cybern. B, vol. 29, pp. 583-591, 1999 https://doi.org/10.1109/3477.790441
  13. A. T. Vemuri, M. Polycarpou, and S. A. Diakourtis, 'Neural network based fault detection in robotic manipulators,' IEEE Trans. Robot. Automat., vol. 14, pp. 342-348, Feb. 1998 https://doi.org/10.1109/70.681254
  14. M. S. De Queiroz, J. Hu, D. Dawson, T. Burg, and S. Donepudi, 'Adaptive position/force control of robot manipulators without velocity measurements: Theory and experimentation,' IEEE Trans. Syst. Man Cybern. B, vol. 27, pp. 796-809, Oct. 1997 https://doi.org/10.1109/3477.623233