0

Full Content is available to subscribers

Subscribe/Learn More  >

Adaptive Fuzzy Computed Torque Controller for Under Actuated Bipedal Robot

[+] Author Affiliations
Hamzeh Ansari, Ahmad Ghanbari

University of Tabriz, Tabriz, Iran

Mohammad Pourgol Mohammad

Sahand University of Technology, Tabriz, Iran

Paper No. IMECE2014-39773, pp. V04BT04A033; 6 pages
doi:10.1115/IMECE2014-39773
From:
  • ASME 2014 International Mechanical Engineering Congress and Exposition
  • Volume 4B: Dynamics, Vibration, and Control
  • Montreal, Quebec, Canada, November 14–20, 2014
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4648-3
  • Copyright © 2014 by ASME

abstract

The primary goal of this paper is to develop and test a new controller for an under-actuated bipedal robot. This controller handles adequately some limitations existing in other similar robot controllers. Fuzzy controller is used in this research in order to tuning the gain of controller adaptively. Tuning parameters lead to robust character and high performance for uncertain movements during the walking. Using adaptive fuzzy computed torque controller, it provide conditions through which i) adaptive fuzzy part adjusts parameters of the system and ii) computed torque part provide a nonlinear control simultaneously. Use of these two advantages lead to reduce uncertainty effects during walking. Finally the Matlab software is developed to evaluate the effectiveness for stability of proposed controller.

Copyright © 2014 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In