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Experiments with nontraditional hybrid control technique of biped locomotion robots

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Abstract

By using the previously established zero-moment point theory and the semi-inverse approach [1–4] for solving the artificial gait synthesis based on the prescribed dynamics to part of the active mechanism, in this new approach to dynamic control of legged locomotion robots, the conventional control synthesis, based on complete dynamic robot model, is abandoned. The paper describes the simulation experiments of biped control with a hybrid approach that combines the traditional model-based and fuzzy logic-based control techniques. The combined method is developed by extending a model-based decentralized control scheme by fuzzy logic-based tuners for modifying parameters of joint servo controllers. The simulation experiments performed on a simplified two-legged mechanism demonstrate the suitability of fuzzy logic-based methods for improving the performance of the robot control system.

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Authors and Affiliations

  1. Robotics Laboratory, M. Pupin Institute, Volgina 15, P.O. Box 15, Belgrade, Yugoslavia

    Miomir Vukobratović & Olga Timčenko

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  1. Miomir Vukobratović
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  2. Olga Timčenko
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Vukobratović, M., Timčenko, O. Experiments with nontraditional hybrid control technique of biped locomotion robots. J Intell Robot Syst 16, 25–43 (1996). https://doi.org/10.1007/BF00309654

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  • DOI: https://doi.org/10.1007/BF00309654

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