Feedback control of humanoid robot locomotion

Authors:
Xusheng Lei;Jianbo Su
Affiliations:
Department of Automation & Research Center of Intelligent Robotics, Shanghai Jiaotong University, Shanghai, China;Department of Automation & Research Center of Intelligent Robotics, Shanghai Jiaotong University, Shanghai, China
Venue:
FSKD'05 Proceedings of the Second international conference on Fuzzy Systems and Knowledge Discovery - Volume Part I
Year:
2005

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Abstract

As an assistant tool for human beings, humanoid robot is expected to cooperate with people to do certain jobs. Therefore, it must have high intelligence to adapt to common working condition. The objective of this paper is to propose an adaptive fuzzy logic control (FLC) method to improve system adaptability and stability, which can adjust hip and ankle joint based on sensor information. Furthermore, it can real time adjust controller parameters to improve FLC performance. Based on sensor information, humanoid robot can get environment and inherent situation and use the adaptive-FLC to realize stable locomotion. The effectiveness of the proposed method is shown with simulations based on the parameters of the “IHR-1” humanoid robot.