Extended control of walking motion for use in an autonomous robot platform

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Authors: Vladareanu, V., Schiopu, P., Deng, M. and Yu, H.

Journal: International Journal of Advanced Mechatronic Systems

Volume: 6

Issue: 4

Pages: 137-146

eISSN: 1756-8420

ISSN: 1756-8412

DOI: 10.1504/IJAMECHS.2015.072697

Copyright © 2015 Inderscience Enterprises Ltd. The paper presents the design and simulation of a three degrees-of-freedom mechatronic system for use in an autonomous robotic platform. The tracking reference for the angular joints is given using a trained neuro-fuzzy model instead of the usual inverse kinematic system. The joint actuators are driven using a selection of position controllers featuring PID control, simple and enhanced extenics control and a number of fuzzy controllers, some of which recently introduced. A comparison for their performance is then provided. The paper draws on some previously investigated concepts of great actuality to the field such as neuro-fuzzy networks, extenics and reduced-base fuzzy control.

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