Data-Based Control for Humanoid Robots Using Support Vector Regression, Fuzzy Logic, and Cubature Kalman Filter
Joint Authors
Wang, Liyang
Chen, Ming
Li, Gai
Fan, Yongqing
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-19, 19 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-06-30
Country of Publication
Egypt
No. of Pages
19
Main Subjects
Abstract EN
Time-varying external disturbances cause instability of humanoid robots or even tip robots over.
In this work, a trapezoidal fuzzy least squares support vector regression- (TF-LSSVR-) based control system is proposed to learn the external disturbances and increase the zero-moment-point (ZMP) stability margin of humanoid robots.
First, the humanoid states and the corresponding control torques of the joints for training the controller are collected by implementing simulation experiments.
Secondly, a TF-LSSVR with a time-related trapezoidal fuzzy membership function (TFMF) is proposed to train the controller using the simulated data.
Thirdly, the parameters of the proposed TF-LSSVR are updated using a cubature Kalman filter (CKF).
Simulation results are provided.
The proposed method is shown to be effective in learning and adapting occasional external disturbances and ensuring the stability margin of the robot.
American Psychological Association (APA)
Wang, Liyang& Chen, Ming& Li, Gai& Fan, Yongqing. 2016. Data-Based Control for Humanoid Robots Using Support Vector Regression, Fuzzy Logic, and Cubature Kalman Filter. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-19.
https://search.emarefa.net/detail/BIM-1111828
Modern Language Association (MLA)
Wang, Liyang…[et al.]. Data-Based Control for Humanoid Robots Using Support Vector Regression, Fuzzy Logic, and Cubature Kalman Filter. Mathematical Problems in Engineering No. 2016 (2016), pp.1-19.
https://search.emarefa.net/detail/BIM-1111828
American Medical Association (AMA)
Wang, Liyang& Chen, Ming& Li, Gai& Fan, Yongqing. Data-Based Control for Humanoid Robots Using Support Vector Regression, Fuzzy Logic, and Cubature Kalman Filter. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-19.
https://search.emarefa.net/detail/BIM-1111828
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1111828