Comparison of PID and Fuzzy Logic Controllers in Humanoid Robot Control of Small Disturbances

  • Miomir Vukobratović
  • Branislav Borovac
  • Mirko Raković
Part of the Communications in Computer and Information Science book series (CCIS, volume 33)


Presence of permanent perturbations during walk requires simultaneous control of dynamic balance preservation and correction of internal synergy to bring it as close as possible to reference one. It is not answered yet in full extent how control for each of these tasks have to be synthesized. In this paper is discussed use of PID and fuzzy control for these purposes. In simulation experiment we applied for dynamic balance preservation only PID controller, but for internal synergy compensation two different controllers (PID and fuzzy) were applied. Obtained results were compared and discussed.


Humanoid robots ZMP (Zero Moment Point) dynamic balance fuzzy control 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Miomir Vukobratović
    • 1
  • Branislav Borovac
    • 2
  • Mirko Raković
    • 2
  1. 1.Institute Mihajlo PupinBelgradeSerbia
  2. 2.Faculty of Technical SciencesUniversity of Novi SadNovi SadSerbia

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