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Proceedings Paper

Using intelligent controller to enhance the walking stability of bipedal walking robot
Author(s): Tsung-Che Hsieh; Chia-Der Chang
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Paper Abstract

This paper is to improve the stability issue of the bipedal walking robot. The study of robot’s pivot joint constructs the driver system to control the implementation. First, a Proportion-Integral-Derivative (PID) controller is designed by which is used the concept of tuning parameter to achieve the stability of the system. Second, Fuzzy controller and tradition PID controller is used to maintain output. It improved original PID controller efficacy. Finally, Artificial Neuro-Fuzzy Inference System (ANFIS) is utilized which is made the controller to achieve self-studying and modify the effect which is completed by the intelligent controller. It improved bipedal robot’s stability control of realization. The result is verified that the walking stability of the bipedal walking robot in Matlab/Simulink. The intelligent controller has achieved the desired position of motor joint and the target stability performance.

Paper Details

Date Published: 11 July 2016
PDF: 4 pages
Proc. SPIE 10011, First International Workshop on Pattern Recognition, 1001114 (11 July 2016); doi: 10.1117/12.2243237
Show Author Affiliations
Tsung-Che Hsieh, Ming Chi Univ. of Technology (Taiwan)
Chia-Der Chang, Ming Chi Univ. of Technology (Taiwan)

Published in SPIE Proceedings Vol. 10011:
First International Workshop on Pattern Recognition
Xudong Jiang; Guojian Chen; Genci Capi; Chiharu Ishll, Editor(s)

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