UM
Type-2 fuzzy logic controller using SRUKF-based state estimations for biped walking robots
Wang L.1; Liu Z.1; Zhang Y.1; Philip Chen C.L.3; Chen X.1
2013-12-01
Source PublicationInternational Journal of Fuzzy Systems
ISSN15622479
Volume15Issue:4Pages:423-434
AbstractWalking motions of biped robots have features of humanoid and intelligent. Generally, when we human are walking, we may control the walking motions using qualitative instructions, such as linguistic "slow" or "fast," "forward" or "backward," "big step" or "small step". This motivates us to design a fuzzy controller for biped robots. Furthermore, to improve the robustness of the biped walking system, a framework of biped gait control based on a predictable type-2 fuzzy logic controller (T2FLC) is proposed to ensure the dynamic balance of the biped under the condition of complex process noises and measurement noises. Different with existing controllers for biped robots, a state estimator based on square root unscented Kalman filter (SRUKF) is incorporated in the proposed control strategy. Using the estimated biped states as inputs, the proposed T2FLC can predictably adjust the posture of the trunk timely and properly to ensure the dynamic balance of the whole legged system. Simulation results are presented to verify the effectiveness of the proposed method. © 2013 TFSA.
KeywordBiped robot Square root unscented Kalman filter State estimation Type-2 fuzzy logic system
URLView the original
Language英語
Fulltext Access
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Guangdong University of Technology
2.Shunde Polytechnic
3.Universidade de Macau
Recommended Citation
GB/T 7714
Wang L.,Liu Z.,Zhang Y.,et al. Type-2 fuzzy logic controller using SRUKF-based state estimations for biped walking robots[J]. International Journal of Fuzzy Systems,2013,15(4):423-434.
APA Wang L.,Liu Z.,Zhang Y.,Philip Chen C.L.,&Chen X..(2013).Type-2 fuzzy logic controller using SRUKF-based state estimations for biped walking robots.International Journal of Fuzzy Systems,15(4),423-434.
MLA Wang L.,et al."Type-2 fuzzy logic controller using SRUKF-based state estimations for biped walking robots".International Journal of Fuzzy Systems 15.4(2013):423-434.
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