Feedback control of humanoid robot locomotion

Xusheng Lei; Jianbo Su

doi:10.1007/11539506_112

Feedback control of humanoid robot locomotion

Xusheng Lei^*
, Jianbo Su

^*Corresponding author for this work

Shanghai Jiao Tong University

Research output: Contribution to journal › Conference article › peer-review

1 Scopus citations

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.

Original language	English
Pages (from-to)	890-899
Number of pages	10
Journal	Lecture Notes in Computer Science
Volume	3613
Issue number	PART I
DOIs	https://doi.org/10.1007/11539506_112
State	Published - 2005
Externally published	Yes
Event	Second International Confernce on Fuzzy Systems and Knowledge Discovery, FSKD 2005 - Changsha, China Duration: 27 Aug 2005 → 29 Aug 2005

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10.1007/11539506_112

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title = "Feedback control of humanoid robot locomotion",

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.",

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T1 - Feedback control of humanoid robot locomotion

AU - Lei, Xusheng

AU - Su, Jianbo

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AB - 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.

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U2 - 10.1007/11539506_112

DO - 10.1007/11539506_112

M3 - 会议文章

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IS - PART I

T2 - Second International Confernce on Fuzzy Systems and Knowledge Discovery, FSKD 2005

Y2 - 27 August 2005 through 29 August 2005

ER -

Feedback control of humanoid robot locomotion

Abstract

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