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Comparison of PID and Fuzzy Logic Controllers in Humanoid Robot Control of Small Disturbances

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Research and Education in Robotics — EUROBOT 2008 (EUROBOT 2008)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 33))

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Abstract

Presence of permanent perturbations during walk requires simultaneous control of dynamic balance preservation and correction of internal synergy to bring it as close as possible to reference one. It is not answered yet in full extent how control for each of these tasks have to be synthesized. In this paper is discussed use of PID and fuzzy control for these purposes. In simulation experiment we applied for dynamic balance preservation only PID controller, but for internal synergy compensation two different controllers (PID and fuzzy) were applied. Obtained results were compared and discussed.

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References

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Author information

Authors and Affiliations

  1. Institute Mihajlo Pupin, Volgina 15, 11000, Belgrade, Serbia

    Miomir Vukobratović

  2. Faculty of Technical Sciences, University of Novi Sad, 21000, Novi Sad, Trg Dositeja Obradovića 6, Serbia

    Branislav Borovac & Mirko Raković

Authors
  1. Miomir Vukobratović
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  2. Branislav Borovac
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  3. Mirko Raković
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Editor information

Editors and Affiliations

  1. Electrical Engineering, SRH University of Applied Sciences, Heidelberg, Germany

    Achim Gottscheber

  2. qfix robotics, Senden, Germany

    Stefan Enderle

  3. Department of Software Engineering, School of Computer Science, Charles University, Praha, Czech Republic

    David Obdrzalek

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© 2009 Springer-Verlag Berlin Heidelberg

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Vukobratović, M., Borovac, B., Raković, M. (2009). Comparison of PID and Fuzzy Logic Controllers in Humanoid Robot Control of Small Disturbances. In: Gottscheber, A., Enderle, S., Obdrzalek, D. (eds) Research and Education in Robotics — EUROBOT 2008. EUROBOT 2008. Communications in Computer and Information Science, vol 33. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03558-6_5

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  • DOI: https://doi.org/10.1007/978-3-642-03558-6_5

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-03557-9

  • Online ISBN: 978-3-642-03558-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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