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
N1 - Publisher Copyright:
© 1993-2012 IEEE.
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 - https://www.scopus.com/pages/publications/85128695420
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 -