Adaptability Control Towards Complex Ground Based on Fuzzy Logic for Humanoid Robots

Chencheng Dong; Zhangguo Yu; Xuechao Chen; Huanzhong Chen; Yan Huang; Qiang Huang

doi:10.1109/TFUZZ.2022.3167458

Adaptability Control Towards Complex Ground Based on Fuzzy Logic for Humanoid Robots

Chencheng Dong, Zhangguo Yu^*, Xuechao Chen^*, Huanzhong Chen, Yan Huang, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Contribution to journal › Article › peer-review

41 Citations (Scopus)

Abstract

Stability control for humanoid robots based on zero moment point (ZMP) control and impedance control are widespread. However, uncertain changes in the center of mass (CoM) height for ZMP control and specific regulation of the variable stiffness of impedance control have been challenging issues in previous studies. In this article, these two problems are solved by implementing fuzzy control-based regulations. First, the fuzzy ZMP controller, which regulates the feedback gains online based on the CoM height change and CoM tracking errors, is proposed. Second, we propose a fuzzy regulation law for variable stiffness, which is applied for uncertain contact situations and inspired by the pattern of human muscle stiffness. With these two methods, the ground adaptability for humanoid robots is enhanced. The proposed method is validated with experiments on a real robot platform, BHR-T.

Original language	English
Pages (from-to)	1574-1584
Number of pages	11
Journal	IEEE Transactions on Fuzzy Systems
Volume	30
Issue number	6
DOIs	https://doi.org/10.1109/TFUZZ.2022.3167458
Publication status	Published - 1 Jun 2022

Keywords

Balance control
foot contact control
fuzzy control
humanoid robot

Access to Document

10.1109/TFUZZ.2022.3167458

Cite this

Dong, C., Yu, Z., Chen, X., Chen, H., Huang, Y., & Huang, Q. (2022). Adaptability Control Towards Complex Ground Based on Fuzzy Logic for Humanoid Robots. IEEE Transactions on Fuzzy Systems, 30(6), 1574-1584. https://doi.org/10.1109/TFUZZ.2022.3167458

@article{7137f78f92f14fcc87b1f92c256ee38c,

title = "Adaptability Control Towards Complex Ground Based on Fuzzy Logic for Humanoid Robots",

abstract = "Stability control for humanoid robots based on zero moment point (ZMP) control and impedance control are widespread. However, uncertain changes in the center of mass (CoM) height for ZMP control and specific regulation of the variable stiffness of impedance control have been challenging issues in previous studies. In this article, these two problems are solved by implementing fuzzy control-based regulations. First, the fuzzy ZMP controller, which regulates the feedback gains online based on the CoM height change and CoM tracking errors, is proposed. Second, we propose a fuzzy regulation law for variable stiffness, which is applied for uncertain contact situations and inspired by the pattern of human muscle stiffness. With these two methods, the ground adaptability for humanoid robots is enhanced. The proposed method is validated with experiments on a real robot platform, BHR-T.",

keywords = "Balance control, foot contact control, fuzzy control, humanoid robot",

author = "Chencheng Dong and Zhangguo Yu and Xuechao Chen and Huanzhong Chen and Yan Huang and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 1993-2012 IEEE.",

year = "2022",

month = jun,

day = "1",

doi = "10.1109/TFUZZ.2022.3167458",

language = "English",

volume = "30",

pages = "1574--1584",

journal = "IEEE Transactions on Fuzzy Systems",

issn = "1063-6706",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "6",

}

TY - JOUR

T1 - Adaptability Control Towards Complex Ground Based on Fuzzy Logic for Humanoid Robots

AU - Dong, Chencheng

AU - Yu, Zhangguo

AU - Chen, Xuechao

AU - Chen, Huanzhong

AU - Huang, Yan

AU - Huang, Qiang

PY - 2022/6/1

Y1 - 2022/6/1

N2 - Stability control for humanoid robots based on zero moment point (ZMP) control and impedance control are widespread. However, uncertain changes in the center of mass (CoM) height for ZMP control and specific regulation of the variable stiffness of impedance control have been challenging issues in previous studies. In this article, these two problems are solved by implementing fuzzy control-based regulations. First, the fuzzy ZMP controller, which regulates the feedback gains online based on the CoM height change and CoM tracking errors, is proposed. Second, we propose a fuzzy regulation law for variable stiffness, which is applied for uncertain contact situations and inspired by the pattern of human muscle stiffness. With these two methods, the ground adaptability for humanoid robots is enhanced. The proposed method is validated with experiments on a real robot platform, BHR-T.

AB - Stability control for humanoid robots based on zero moment point (ZMP) control and impedance control are widespread. However, uncertain changes in the center of mass (CoM) height for ZMP control and specific regulation of the variable stiffness of impedance control have been challenging issues in previous studies. In this article, these two problems are solved by implementing fuzzy control-based regulations. First, the fuzzy ZMP controller, which regulates the feedback gains online based on the CoM height change and CoM tracking errors, is proposed. Second, we propose a fuzzy regulation law for variable stiffness, which is applied for uncertain contact situations and inspired by the pattern of human muscle stiffness. With these two methods, the ground adaptability for humanoid robots is enhanced. The proposed method is validated with experiments on a real robot platform, BHR-T.

KW - Balance control

KW - foot contact control

KW - fuzzy control

KW - humanoid robot

UR - http://www.scopus.com/inward/record.url?scp=85128695420&partnerID=8YFLogxK

U2 - 10.1109/TFUZZ.2022.3167458

DO - 10.1109/TFUZZ.2022.3167458

M3 - Article

AN - SCOPUS:85128695420

SN - 1063-6706

VL - 30

SP - 1574

EP - 1584

JO - IEEE Transactions on Fuzzy Systems

JF - IEEE Transactions on Fuzzy Systems

IS - 6

ER -

Adaptability Control Towards Complex Ground Based on Fuzzy Logic for Humanoid Robots

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this