.png){kind=icon}
返回
Energy efficient walking control for biped robots using interval type-2 fuzzy logic systems and optimized iteration algorithm
.png){kind=icon}
PRE
AI
DOI：10.1016/j.isatra.2018.11.018.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
An energy efficient approach is proposed for the walking control of bipedal robots. To compensate the ZMP error caused by model uncertainties and external disturbances, we design a new walking controller in this paper. Different from currently available control schemes for cancelling ZMP error, our newly proposed one additionally incorporates a fuzzy logic systems(FLSs) mechanism and an iterative mechanism. By employing FLSs to deduce Center of Mass(CoM) correction according to ZMP error and designing iterative mechanism to compute the optimal joint position, the newly proposed controller exhibits an excellent performance. To tackle the control difficulties arising from physical constraints of actuators and hard-to-stabilization of biped robot, an optimized control algorithm is included in the iterative mechanism to guarantee the convergence to the optimal solution. Moreover, the interval type-2 FLSs are adopted to handle the uncertainties. Finally, the experiment results are provided to validate the proposed control scheme. (C) 2018 ISA. Published by Elsevier Ltd. All rights reserved.
Keyword:
Biped robot
Walking control
Energy efficiency
Zero moment point
Yaw moment
Interval type-2 fuzzy logic systems
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
6.5
论文数:
6.1K
被引数:
2.0W
机构
引用论文
Online Walking Control System for Humanoids with Short Cycle Pattern Generation基于短周期模式生成的仿人机器人在线行走控制系统
PREAI
分享收藏Multiobjective Particle Swarm Optimization With Preference-Based Sort and Its Application to Path Following Footstep Optimization for Humanoid Robots基于偏好排序的多目标粒子群算法及其在仿人机器人路径跟踪优化中的应用
PREAI
分享收藏A controller based on Optimal Type-2 Fuzzy Logic: Systematic design, optimization and real-time implementation基于最优2型模糊逻辑的控制器: 系统设计，优化和实时实现.png)
ISA TRANSACTIONS
ISA TRANSACTIONSIF6.5
PREAI
分享收藏Active disturbance rejection control based human gait tracking for lower extremity rehabilitation exoskeletonISA TRANSACTIONS
ISA TRANSACTIONSIF6.5
PREAI
分享收藏
查看更多内容