Survey of Intelligent Control Techniques for Humanoid Robots

Authors:
Duš/ko Katić/;Miomir Vukobratović/
Affiliations:
Robotics Laboratory, Mihailo Pupin Institute, Volgina 15, 11000 Belgrade, Yugoslavia/ e-mail: dusko@robot.imp.bg.ac.yu;Robotics Laboratory, Mihailo Pupin Institute, Volgina 15, 11000 Belgrade, Yugoslavia/ e-mail: vuk@robot.imp.bg.ac.yu
Venue:
Journal of Intelligent and Robotic Systems
Year:
2003

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Abstract

This paper focusses on the application of intelligent control techniques (neural networks, fuzzy logic and genetic algorithms) and their hybrid forms (neuro-fuzzy networks, neuro-genetic and fuzzy-genetic algorithms) in the area of humanoid robotic systems. It represents an attempt to cover the basic principles and concepts of intelligent control in humanoid robotics, with an outline of a number of recent algorithms used in advanced control of humanoid robots. Overall, this survey covers a broad selection of examples that will serve to demonstrate the advantages and disadvantages of the application of intelligent control techniques.