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A hybrid SOF-PID controller for a MIMO biped robot

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Abstract

The application of the hybrid self-organizing fuzzy (SOF) PID controller to a multiinput multioutput nonlinear biped robot is studied in this article. The SOF-PID controller was initially studied by H.B. Kazemian in 1998. Actually, his SOF-PID controller has limits. The supervisory capacity of the SOF-PID controller can adjust only certain kinds of parameters. Here the hybrid SOF-PID controller is introduced to tune some kinds of parameters, and it was tested on a MIMO biped robot. In the experiment, the hybrid SOF-PID controller shows a better performance than the SOF-PID.

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Authors and Affiliations

  1. Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology (KAIST), 373-1 Guseong-dong, Yuseong-gu, Daejeon, 305-701, Korea

    Tae-Yong Choi, So-Yeon Park & Ju-Jang Lee

Authors
  1. Tae-Yong Choi
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  2. So-Yeon Park
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  3. Ju-Jang Lee
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Corresponding author

Correspondence to Tae-Yong Choi.

Additional information

This work was presented in part at the 10th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2005

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Choi, TY., Park, SY. & Lee, JJ. A hybrid SOF-PID controller for a MIMO biped robot. Artif Life Robotics 10, 69–72 (2006). https://doi.org/10.1007/s10015-005-0357-5

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  • DOI: https://doi.org/10.1007/s10015-005-0357-5

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