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Fuzzy SVM learning control system considering time properties of biped walking samples
Wang L.2; Liu Z.1; Philip Chen C.L.4; Zhang Y.1; Lee S.3; Chen X.1
2013-02-01
Source PublicationEngineering Applications of Artificial Intelligence
ISSN09521976
Volume26Issue:2Pages:757-765
AbstractTo learn biped walking dynamics accurately, and then compensate time-varying external disturbances timely, a time-sequence-based fuzzy SVM (TSF-SVM) learning control system considering time properties of biped walking samples is proposed. For the first time, time-sequence-based triangular and Gaussian fuzzy membership functions have been proposed for the single support phase (SSP) and the double support phase (DSP), respectively, according to time properties of different biped phases, which provides an effective way to formulate time properties of biped walking samples in the context of time-varying external disturbances. In addition, a time-sequence-based moving learning window (TS-MLW) is proposed for online training of the proposed TSF-SVM. The performance of the proposed TSF-SVM is compared with other typical intelligent methods; simulation results demonstrate that the proposed method is more sensitive to occasional external disturbances, which increases the stability margin and prevents the robot from falling down. © 2012 Elsevier Ltd.
KeywordBiped robot Learning control Learning weight Support vector machine
DOI10.1016/j.engappai.2012.12.001
URLView the original
Language英語
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Cited Times [WOS]:7   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Guangdong University of Technology
2.Shunde Polytechnic
3.Sungkyunkwan University
4.Universidade de Macau
Recommended Citation
GB/T 7714
Wang L.,Liu Z.,Philip Chen C.L.,et al. Fuzzy SVM learning control system considering time properties of biped walking samples[J]. Engineering Applications of Artificial Intelligence,2013,26(2):757-765.
APA Wang L.,Liu Z.,Philip Chen C.L.,Zhang Y.,Lee S.,&Chen X..(2013).Fuzzy SVM learning control system considering time properties of biped walking samples.Engineering Applications of Artificial Intelligence,26(2),757-765.
MLA Wang L.,et al."Fuzzy SVM learning control system considering time properties of biped walking samples".Engineering Applications of Artificial Intelligence 26.2(2013):757-765.
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