摘要
This paper proposes a control method that improves the ability of adult-sized humanoid robots to adapt to weightlifting situations. In order to achieve the goal of having humanoid robots automatically balance their motion for weight-lifting situations, feedback control is added to the motion control system. The feedback sensors include a three-axis accelerometer and a three-axis gyroscopic, which would be processed by Kalman filter, as well as eight force sensors providing the zero moment point (ZMP) information on the robot. These feedback signals are used as the input of a Fuzzy Q-learning controller, which adjusts the motions to keep the stabilization of the robot. The Fuzzy Q-learning controller consists of two stages: one is the stage of fitting the output weights of each pose in motion patterns, and the second is training the rule-table of the controller. The experiment shows that the controller allows the adult-sized robot to walk stably in weight-lifting situation. Thus, the developed controller indeed keeps the balance of the robot in different situations, which gives the robot the ability to adapt to various environments in the manner of human beings.
原文 | English |
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主出版物標題 | Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015 |
發行者 | Institute of Electrical and Electronics Engineers Inc. |
頁面 | 364-369 |
頁數 | 6 |
ISBN(電子) | 9781479986965 |
DOIs | |
出版狀態 | Published - 2016 1月 12 |
事件 | IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015 - Kowloon Tong, Hong Kong 持續時間: 2015 10月 9 → 2015 10月 12 |
Other
Other | IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015 |
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國家/地區 | Hong Kong |
城市 | Kowloon Tong |
期間 | 15-10-09 → 15-10-12 |
All Science Journal Classification (ASJC) codes
- 人工智慧
- 電腦網路與通信
- 能源工程與電力技術
- 資訊系統與管理
- 控制與系統工程