Abstract:
This paper introduces the hardware of the IHR-1 humanoid robot. It has 25 degrees of freedom with low cost direct brushless actuators and sensors. Moreover, to improve sy...View moreMetadata
Abstract:
This paper introduces the hardware of the IHR-1 humanoid robot. It has 25 degrees of freedom with low cost direct brushless actuators and sensors. Moreover, to improve system stability and adaptability, an adaptive fuzzy logic control method is proposed to adjust joint trajectories online to adapt to real working conditions. As fuzzy logic control has high potential in dealing with fuzzy information, the system can compensate for joint angle errors based on low precision sensor information. The effectiveness of the proposed method is tested on the module of the “IHR-1” humanoid robot.
Date of Conference: 15-18 December 2007
Date Added to IEEE Xplore: 16 May 2008
ISBN Information: