Journal
CAAI TRANSACTIONS ON INTELLIGENCE TECHNOLOGY
Volume 1, Issue 3, Pages 197-209Publisher
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1016/j.trit.2016.10.009
Keywords
Humanoid robot; PSO; NN; FLC; Motion planning
Categories
Funding
- State Key Laboratory of Robotics and System (HIT) Foundation of China [SKLRS-2012-MS-06]
- China Postdoctoral Science Foundation [2013M531022]
- Research project of laboratory work in universities of Zhejiang Province [ZD201504]
- Educational technology research program of Zhejiang Province [JA027]
Ask authors/readers for more resources
According to the features of movements of humanoid robot, a control system for humanoid robot walking on uneven terrain is present. Constraints of stepping over stairs are analyzed and the trajectories of feet are calculated by intelligent computing methods. To overcome the shortcomings resulted from directly controlling the robot by neural network (NN) and fuzzy logic controller (FLC), a revised particle swarm optimization (PSO) algorithm is proposed to train the weights of NN and rules of FLC. Simulations and experiments on different control methods are achieved for a detailed comparison. The results show that using the proposed methods can obtain better control effect. Copyright (C) 2016, Chongqing University of Technology. Production and hosting by Elsevier B.V.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available