Advertisement

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)

Abstract

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.

Keywords

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

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Juričić, D., Vukobratović, M.: Mathematical Modeling of Biped Walking Systems, ASME Publ. 72-WA/BHF-13 (1972)Google Scholar
  2. 2.
    Vukobratović, M.: How to Control the Artificial Anthropomorphic Systems. IEEE Trans. on System, Man and Cybernetics SMC-3, 497–507 (1973)CrossRefMATHGoogle Scholar
  3. 3.
    Vukobratović, M.: Legged Locomotion Systems and Anthropomorphic Mechanisms, Mihajlo Pupin Institute, Belgrade (1975); also published in Japanese, Nikkan Shimbun Ltd. Tokyo, in Russian, “MIR”, Moscow, 1976, in Chinese, Beijing (1983)Google Scholar
  4. 4.
    Vukobratović, M., Borovac, B., Surla, D., Stokić, D.: Biped Locomotion – Dynamics, Stability, Control and Application. Springer, Berlin (1990)MATHGoogle Scholar
  5. 5.
    Vukobratović, M., Borovac, B.: Zero-Moment Point- Thirty Five Years of its Life. Int. Jour. of Humanoid Robotics 1(1), 157–173 (2004)CrossRefGoogle Scholar
  6. 6.
    Vukobratović, M., Borovac, B.: Note on the Article, Zero-Moment Point-Thirty Five Years of its Life. Int. Jour. of Humanoid Robotics 2(2), 225–227 (2005)CrossRefGoogle Scholar
  7. 7.
    Vukobratović, M., Borovac, B., Potkonjak, V.: Towards a Unified Understanding of Basic Notions and Terms in Humanoid Robotics. Robotica 25, 87–101 (2007)CrossRefGoogle Scholar
  8. 8.
    Vukobratović, M., Borovac, B., Potkonjak, V.: ZMP: A Review of Some Basic Misunderstanings. Int. Jour. of Humanoid Robotics 3(2), 153–176 (2006)CrossRefGoogle Scholar
  9. 9.
    Vukobratović, M., Borovac, B., Raković, M., Potkonjak, V., Milinović, M.: On some aspects of humanoid robots gait synthesis and control at small disturbances. Int. Jour. of Humanoid Robotics (accepted for publication) (2008)Google Scholar

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

Personalised recommendations