Adaptive Omni-directional Walking Method with Fuzzy Interpolation for Biped Robots

Fuzzy Nonlinear Controller for Stable Walking of Biped Robots

ontrol of underactuated biped robots is one of the challenging problems in the robotics field. The main difficulties of this problem that make it hard to control are its highly nonlinear dynamics, open-loop instability and impact event at the end of each step. Partial feedback linearization is a method to control underactuated systems but it is not robust against uncertainties and disturbances....

Fuzzy Partial Feedback Linearization for Stable Walking of Biped Robots

ontrol of underactuated biped robots is one of the challenging problems in the robotics field. The main difficulties of this problem that make it hard to control are its highly nonlinear dynamics, open-loop instability and impact event at the end of each step. Partial feedback linearization is a method to control underactuated systems but it is not robust against uncertainties and disturbances....

Delay Compensation on Fuzzy Trajectory Tracking Control of Omni-Directional Mobile Robots

This paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. Fuzzy logic control (FLC) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  On the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...

Omni-directional catadioptric vision for soccer robots

Using BELBIC based optimal controller for omni-directional threewheel robots model identified by LOLIMOT

In this paper, an intelligent controller is applied to control omni-directional robots motion. First, the dynamics of the three wheel robots, as a nonlinear plant with considerable uncertainties, is identified using an efficient algorithm of training, named LoLiMoT. Then, an intelligent controller based on brain emotional learning algorithm is applied to the identified model. This emotional l...