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Extended control of walking motion for use in an autonomous robot platform

Extended control of walking motion for use in an autonomous robot platform The paper presents the design and simulation of a three degrees-of-freedom mechatronic system for use in an autonomous robotic platform. The tracking reference for the angular joints is given using a trained neuro-fuzzy model instead of the usual inverse kinematic system. The joint actuators are driven using a selection of position controllers featuring PID control, simple and enhanced extenics control and a number of fuzzy controllers, some of which recently introduced. A comparison for their performance is then provided. The paper draws on some previously investigated concepts of great actuality to the field such as neuro-fuzzy networks, extenics and reduced-base fuzzy control. Keywords: robotic manipulator; neuro-fuzzy training; extenics control; reduced-base fuzzy control. Reference to this paper should be made as follows: Vladareanu, V., Schiopu, P., Deng, M. and Yu, H. (2015) `Extended control of walking motion for use in an autonomous robot platform', Int. J. Advanced Mechatronic Systems, Vol. 6, No. 4, pp.137­146. Biographical notes: Victor Vladareanu is a Scientific Researcher at the Politehnica University of Bucharest. The title of his PhD thesis is `Contributions to the intelligent control of autonomous mobile robots using multi-sensor systems'. The focus of his research interests is on artificial intelligence, particularly evolutionary http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Advanced Mechatronic Systems Inderscience Publishers

Extended control of walking motion for use in an autonomous robot platform

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Publisher
Inderscience Publishers
Copyright
Copyright © 2015 Inderscience Enterprises Ltd.
ISSN
1756-8412
eISSN
1756-8420
DOI
10.1504/IJAMECHS.2015.072697
Publisher site
See Article on Publisher Site

Abstract

The paper presents the design and simulation of a three degrees-of-freedom mechatronic system for use in an autonomous robotic platform. The tracking reference for the angular joints is given using a trained neuro-fuzzy model instead of the usual inverse kinematic system. The joint actuators are driven using a selection of position controllers featuring PID control, simple and enhanced extenics control and a number of fuzzy controllers, some of which recently introduced. A comparison for their performance is then provided. The paper draws on some previously investigated concepts of great actuality to the field such as neuro-fuzzy networks, extenics and reduced-base fuzzy control. Keywords: robotic manipulator; neuro-fuzzy training; extenics control; reduced-base fuzzy control. Reference to this paper should be made as follows: Vladareanu, V., Schiopu, P., Deng, M. and Yu, H. (2015) `Extended control of walking motion for use in an autonomous robot platform', Int. J. Advanced Mechatronic Systems, Vol. 6, No. 4, pp.137­146. Biographical notes: Victor Vladareanu is a Scientific Researcher at the Politehnica University of Bucharest. The title of his PhD thesis is `Contributions to the intelligent control of autonomous mobile robots using multi-sensor systems'. The focus of his research interests is on artificial intelligence, particularly evolutionary

Journal

International Journal of Advanced Mechatronic Systems – Inderscience Publishers

Published: Jan 1, 2015

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