Genetic Design of Biped Walking Fuzzy Logic Controller

被引：0
|
作者：
Cardenas, Selene [1 ]
Castillo, Oscar [2 ]
Aguilar, Luis T. [3 ]
Rodriguez, Antonio [1 ]
机构：
[1] Univ Autonoma Baja California, Fac Ciencias Quim & Ingn, Tijuana 22390, BC, Mexico
[2] Inst Technol Tijuana, Div Estudios Posgrado Invest, Tijuana 22414, BC, Mexico
[3] CITIEDI, IPN, Tijuana, BC 22510, Mexico
来源：
HIMA: 2009 IEEE WORKSHOP ON HYBRID INTELLIGENT MODELS AND APPLICATIONS | 2009年
关键词：
SYSTEMS;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents the automatic design, through a multi-objective genetic algorithm, of a fuzzy logic controller (FLC) applied to walking of a biped robot. The design approach of the FLC comprises two aspects: tuning the antecedents and consequents membership functions parameters and obtain the antecedents and consequents fuzzy partition of a rule base with a fixed structure such that allow to perform tracking of a walking pattern. Optimization results of the FLC design for a 3-DOF biped robot and the tracking results are provided.
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页码：7 / +
页数：3
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