In this paper we propose to control a bipedal robot in an unstable position by means of a PID controller that gains are turned by a fuzzy logic system. For that, a model of planar 3 linked segment consisting of limb, trunk and extended arms with fixed base is used. Fuzzy if-then rules are constructed based on human expert knowledge and biomechanics studies for tuning of PID’s gain. For construction of tuning rules, we have developed an optical measuring system to record experimental data of balance keeping of a human in an unstable position. The control model is based on three sets of different global variables: (1) limb orientation and its derivative, (2) trunk/upper attitude and its derivative, and (3) orientation of extended arms and its derivative. In this study, we consider only side to side robot’s balancing and we also demonstrate, by simulation results, that the proposed control model is stable in presence of external disturbance. Finally we have compared the simulation results with the experiments to show the similarity of the proposed system with the human balance keeping task.
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ASME 2008 International Mechanical Engineering Congress and Exposition
October 31–November 6, 2008
Boston, Massachusetts, USA
Conference Sponsors:
- ASME
ISBN:
978-0-7918-4863-0
PROCEEDINGS PAPER
A Supervisory Fuzzy-PID Controller for a MIMO Biped Robot Balance in Frontal Plane
Hesam Zomorodi-Moghadam,
Hesam Zomorodi-Moghadam
Sharif University of Technology, Tehran, Iran
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Mahdi Haghshenas-Jaryani,
Mahdi Haghshenas-Jaryani
Sharif University of Technology, Tehran, Iran
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Farzam Farahmand
Farzam Farahmand
Sharif University of Technology, Tehran, Iran
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Hesam Zomorodi-Moghadam
Sharif University of Technology, Tehran, Iran
Mahdi Haghshenas-Jaryani
Sharif University of Technology, Tehran, Iran
Farzam Farahmand
Sharif University of Technology, Tehran, Iran
Paper No:
IMECE2008-67118, pp. 307-314; 8 pages
Published Online:
August 26, 2009
Citation
Zomorodi-Moghadam, H, Haghshenas-Jaryani, M, & Farahmand, F. "A Supervisory Fuzzy-PID Controller for a MIMO Biped Robot Balance in Frontal Plane." Proceedings of the ASME 2008 International Mechanical Engineering Congress and Exposition. Volume 2: Biomedical and Biotechnology Engineering. Boston, Massachusetts, USA. October 31–November 6, 2008. pp. 307-314. ASME. https://doi.org/10.1115/IMECE2008-67118
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