11 July 2016 Using intelligent controller to enhance the walking stability of bipedal walking robot
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Proceedings Volume 10011, First International Workshop on Pattern Recognition; 1001114 (2016) https://doi.org/10.1117/12.2243237
Event: First International Workshop on Pattern Recognition, 2016, Tokyo, Japan
Abstract
This paper is to improve the stability issue of the bipedal walking robot. The study of robot’s pivot joint constructs the driver system to control the implementation. First, a Proportion-Integral-Derivative (PID) controller is designed by which is used the concept of tuning parameter to achieve the stability of the system. Second, Fuzzy controller and tradition PID controller is used to maintain output. It improved original PID controller efficacy. Finally, Artificial Neuro-Fuzzy Inference System (ANFIS) is utilized which is made the controller to achieve self-studying and modify the effect which is completed by the intelligent controller. It improved bipedal robot’s stability control of realization. The result is verified that the walking stability of the bipedal walking robot in Matlab/Simulink. The intelligent controller has achieved the desired position of motor joint and the target stability performance.
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Tsung-Che Hsieh, Tsung-Che Hsieh, Chia-Der Chang, Chia-Der Chang, } "Using intelligent controller to enhance the walking stability of bipedal walking robot", Proc. SPIE 10011, First International Workshop on Pattern Recognition, 1001114 (11 July 2016); doi: 10.1117/12.2243237; https://doi.org/10.1117/12.2243237
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