Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2007.13.5.399

Implementation of the Controller for a Stable Walking of a Humanoid Robot Using Improved Genetic Algorithm  

Kong, Jung-Shik (대덕대학 마이크로로봇과)
Lee, Eung-Hyuk (한국산업기술대학교 전자과)
Kim, Jin-Geol (인하대학교 저자전기공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.5, 2007 , pp. 399-405 More about this Journal
Abstract
This paper deals with the controller for a stable walking of a humanoid robot using genetic algorithm. A humanoid robot has instability during walking because it isn't fixed on the ground, and its nonlinearities of the joints increase its instability. If controller isn't robust, the robot may fall down at the ground during walking because of its nonlinearities. To solve this problem, robust controller is required to reduce the effect of nonlinearities and to gain the good tracking performance. In this paper, motion controller that is based on fuzzy-sliding mode controller is proposed. This controller can remove the effect of the saturation by limitation of the input voltage. It also includes compensator for reducing the effect of the nonlinearity by backlash and PI controller improving the tracking performance. In here, genetic algorithm is used for searching the optimal gains of the controller. From the given controller, a humanoid robot can moved more preciously. All the processes are investigated through simulations and are verified experimentally in a real joint system for a humanoid robot.
Keywords
humanoid robot; genetic algorithm; fuzzy-sliding mode controller;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 J.-S. Kong, J.-G Kim, and B.-H. Lee, 'A study on the posture control of a humanoid robot,' Journal of Control, Automation and Systems Engineering, vol. 11, no. 1,pp. 77-83, 2005   과학기술학회마을   DOI
2 Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, and K. Fujimura, 'The intelligent ASIMO: System overview and integration,' IEEF/RSJ International Conference, vol. 3, pp. 2478-2483, 2002
3 M. Fujita, Y. Kuroki, T. Ishida, and T. T. Doi, 'Autonomous behavior control architecture of entertainment humanoid robot SDR-4X,' Intelligent Robots and Systems (IROS2003), vol. 1, pp. 960 - 967, 2003
4 M. J. Riezenman, 'Robots stand on own two feet,' Spectrum IEEE, vol. 39, pp. 24-25, Aug. 2002
5 R. Kurazume, T. Hasegawa, and K. Yoneda, 'The sway compensation trajectory for a biped robot,' ICRA '03, vol. 1, pp. 925-931,2003
6 J.-S. Kong, B.-H. Lee, and J.-G Kim, 'Design of a switching PIDcontroller using advanced genetic algorithm for a nonlinear system,' LNAI 3801, pp. 176-183, 2005
7 P. Yang, X. Kong, Z.-J. Liu, H. Chen, Q. Zhau, and J. Liu, 'Hybrid joint controller for humanoid robot,' Int. Conf. on Machine Learning Cybernetics, pp. 4188-4192, 2005
8 D. Kee, G WyETH, and J. Roberts, 'Biologically inspired joint control for a humanoid robot,' Int. Conf. on Humanoid Robots, pp. 385-401, 2004
9 B.-J. lung, J.-S. Kong, B.-H. Lee, S.-M. Ahn, and J.-G Kim, 'Backlash compensation for a humanoid robot using disturbance observer,' Ini. Conf. On IECON, pp. 2042-2047, 2004
10 T. Ishida, Y. Kuroki, J. Yamaguchi, M. Fujita, and T. T. Doi, 'Motion entertainment by a small humanoid robot based on OPEN-R,' IEEE/RSJ, pp. 1079-1086, 2001
11 A. Konno, Y.Tanida, K. Abe, and M. Uchiyama, 'A plantar Hslip force sensor for humanoid robots to detect the reaction forces,' Intelligent Robots and Systems, pp. 1470-1475, 2005
12 M. Vagi and V. Lumelsky, 'Biped robot locomotion in scenes with unknown obstacles,' International Conference on Robotics & Automation, pp. 375-380, 1999
13 K. Nichiwaki, Y.Murakami, S. Kagami, Y.Kuniyoshi, M. Inaba, and H. Inoue, 'A six-axis force sensor with parallel support mechanicm to measure to ground reaction force of humanoid robot,' International conference on Robotics and Automation, pp. 2277-2282,2002
14 J.-S. Kong and J.-G Kim, 'Identification of a motor with multiple nonlinearities by improved genetic algorithm,' Lecture Notesin Artijicial lntelligence, vol. 3483, pp. 981-987, 2005