A SUPERVISORY FUZZY-PID CONTROLLER FOR A MIMO BIPED ROBOT BALANCE IN FRONTAL PLANE

被引：0

作者：

Zomorodi-Moghadam, Hesam ^{[1
]}

Haghshenas-Jaryani, Mahdi ^{[1
]}

Farahmand, Farzam ^{[1
]}

机构：

[1] Sharif Univ Technol, Dept Mech Engn, Tehran 113659567, Iran

来源：

PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION 2008, VOL 2 | 2009年

关键词：

Human Stance; Fuzzy Control; PID Control; Biped Robot; MODEL;

D O I：

暂无

中图分类号：

Q81 [生物工程学（生物技术）]; Q93 [微生物学];

学科分类号：

071005 ; 0836 ; 090102 ; 100705 ;

摘要：

In this paper we propose to control a bipedal robot in an unstable position by means of a PID controller that gains are turned by a fuzzy logic system. For that, a model of planar 3 linked segment consisting of limb, trunk and extended arms with fixed base is used. Fuzzy if-then rules are constructed based on human expert knowledge and biomechanics studies for tuning of PID's gain. For construction of tuning rules, we have developed an optical measuring system to record experimental data of balance keeping of a human in an unstable position. The control model is based on three sets of different global variables: (1) limb orientation and its derivative, (2) trunk/upper attitude and its derivative, and (3) orientation of extended arms and its derivative. In this study, we consider only side to side robot's balancing and we also demonstrate, by simulation results, that the proposed control model is stable in presence of external disturbance. Finally we have compared the simulation results with the experiments to show the similarity of the proposed system with the human balance keeping task.

引用

页码：307 / 314

页数：8

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