Fuzzy SVM learning control system considering time properties of biped walking samples

Authors:
Liyang Wang;Zhi Liu;C. L. Philip Chen;Yun Zhang;Sukhan Lee;Xin Chen
Affiliations:
Department of Electronic Engineering, Shunde Polytechnic, Foshan, Guangdong 528300, China and School of Automation, Guangdong University of Technology, Guangzhou, Guangdong 510006, China;School of Automation, Guangdong University of Technology, Guangzhou, Guangdong 510006, China;Faculty of Science and Technology, University of Macau, Macau 999078, China;School of Automation, Guangdong University of Technology, Guangzhou, Guangdong 510006, China;School of Information and Communication, Sungkyunkwan University, Suwon 440746, Korea;School of Mechatronics Engineering, Guangdong University of Technology, Guangzhou, Guangdong 510006, China
Venue:
Engineering Applications of Artificial Intelligence
Year:
2013

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Abstract

To learn biped walking dynamics accurately, and then compensate time-varying external disturbances timely, a time-sequence-based fuzzy SVM (TSF-SVM) learning control system considering time properties of biped walking samples is proposed. For the first time, time-sequence-based triangular and Gaussian fuzzy membership functions have been proposed for the single support phase (SSP) and the double support phase (DSP), respectively, according to time properties of different biped phases, which provides an effective way to formulate time properties of biped walking samples in the context of time-varying external disturbances. In addition, a time-sequence-based moving learning window (TS-MLW) is proposed for online training of the proposed TSF-SVM. The performance of the proposed TSF-SVM is compared with other typical intelligent methods; simulation results demonstrate that the proposed method is more sensitive to occasional external disturbances, which increases the stability margin and prevents the robot from falling down.