The flexible two-wheeled self-balancing robot intelligence controlling based on Boltzmann

Authors:
Jianwei Zhao;Xiaogang Ruan
Affiliations:
Institute of Artificial Intelligence and Robots, Beijing University of Technology, Beijing, China;Institute of Artificial Intelligence and Robots, Beijing University of Technology, Beijing, China
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

Citing 2
Cited 0

Simulated annealing and Boltzmann machines: a stochastic approach to combinatorial optimization and neural computing

Simulated annealing and Boltzmann machines: a stochastic approach to combinatorial optimization and neural computing
Velocity and position control of a wheeled inverted pendulum by partial feedback linearization

IEEE Transactions on Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

One new aspect, introduced in this paper, is the modeling of the human lumbar - a spring is added to the robot to imitate lumbar flexibility and curvature. The Bolzmann machine is used to control robot's posture based on study, and the flexible robot realizes posture control in the self-organizing capacity. The reasonable energy function is defined for the non-linear and strong coupling robot system, then designing the Bolzmann machine controller. The validity of the system modeling and controller design is verified through simulation, experimental results. The flexible robot likes the human being not only structure, but also physiological intelligence.