NDLI: A novel intelligent control system design for a humanoid robot

Content Provider	IEEE Xplore Digital Library
Author	Chih-Min Lin Chih-Hsuan Chen Ming-Hung Lin
Copyright Year	2011
Description	Author affiliation: Department of Electrical Engineering, Yuan Ze University, No. 135, Yuan-Tung Road, Chung-Li, Tao-Yuan, 320, Taiwan, Republic of China (Chih-Min Lin; Chih-Hsuan Chen; Ming-Hung Lin)
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.
Starting Page	1156
Ending Page	1161
File Size	246399
Page Count	6
File Format	PDF
ISBN	9781457703058
ISSN	21601348
e-ISBN	9781457703089
DOI	10.1109/ICMLC.2011.6016883
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-10
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Humanoid robots Trajectory Intelligent control Adaptive systems System on Programmable Chip (SoPC) Humanoid robot Fuzzy system Cerebellar Model Articulation Controller (CMAC) Zero moment point (ZMP)
Content Type	Text
Resource Type	Article

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