Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Experimental Studies of a Fuzzy Controller Compensated by Neural Network for Humanoid Robot Arms

다관절 휴머노이드 상체 로봇의 제어를 위한 신경망 보상 퍼지 제어기 구현 및 실험

  • 송덕희 (충남대학교 BK21 메카트로닉스 그룹) ;
  • 노진석 (충남대학교 BK21 메카트로닉스 그룹) ;
  • 정슬 (충남대학교 BK21 메카트로닉스 그룹)
  • Published : 2007.07.01
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Abstract

In this paper, a novel neuro-fuzzy controller is presented. The generic fuzzy controller is compensated by a neural network controller so that an overall control structure forms a neuro-fuzzy controller. The proposed neuro-fuzzy controller solves the difficulty of selecting optimal fuzzy rules by providing the similar effect of modifying fuzzy rules simply by changing crisp input values. The performance of the proposed controller is tested by controlling humanoid robot arms. The humanoid robot arm is analyzed and implemented. Experimental studies have shown that the performance of the proposed controller is better than that of a PID controller and of a generic fuzzy PD controller.

Keywords

References

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