Biped robot walking control on inclined planes with fuzzy parameter adaptation
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Yılmaz, Metin and Seven, Utku and Erbatur, Kemalettin (2010) Biped robot walking control on inclined planes with fuzzy parameter adaptation. In: IFAC Workshop Adaptation and Learning in Control and Signal Processing (ALCOSP 2010), Antalya, Turkey
The bipedal structure is suitable for a robot functioning in the human environment, and assuming assistive roles. However, the bipedal walk is a poses a difficult control problem. Walking on even floor is not satisfactory for the applicability of a humanoid robot. This paper presents a study on bipedal walk on inclined planes. A Zero Moment Point (ZMP) based reference generation technique is employed. The orientation of the upper body is adjusted online by a fuzzy logic system to adapt to different walking surface slopes. This system uses a sampling time larger than the one of the joint space position controllers. A newly defined measure of the oscillatory behavior of the body pitch angle and the average value of the pelvis pitch angle are used as inputs to the fuzzy adaptation system. A 12-degrees-of-freedom (DOF) biped robot model is used in the full-dynamics 3-D simulations. Simulations are carried out on even floor and inclined planes with different slopes. The results indicate that the fuzzy adaptation algorithms presented are successful in enabling the robot to climb slopes of 5.6 degrees (10 percent).
|Item Type:||Papers in Conference Proceedings|
|Uncontrolled Keywords:||humanoid robots, bipedal walk, inclined plane|
|Deposited By:||Kemalettin Erbatur|
|Deposited On:||10 Dec 2010 12:44|
|Last Modified:||29 Jul 2019 12:30|
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