Experience-based Fuzzy Control of an Anthropomimetic Robot

Veljko Potkonjak, Nenad Bascarevic, Predrag Milosavljevic, Kosta Jovanovic, Owen Holland

2012

Abstract

This paper aims to present a novel experience-based solution for a black-box control problem, applied to an anthropomimetic robot. The control method is tested on a point to point control problem of a multi-jointed robot arm. The model characteristics – dynamics, kinematics, and control parameters – are considered as unspecified, and therefore we deal with a machine learning approach that follows the cybernetic concept of black-box. The only available data of the system are those obtained from measuring inputs and outputs. The control algorithm involves two levels: feedforward and feedback. The main focus is, however, on feedback level where the algorithm for experience-based estimation of kinematic coefficients is combined with fuzzy logic control in order to relate the control inputs with the robot arm motion in the global frame.

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Paper Citation


in Harvard Style

Potkonjak V., Bascarevic N., Milosavljevic P., Jovanovic K. and Holland O. (2012). Experience-based Fuzzy Control of an Anthropomimetic Robot . In Proceedings of the 4th International Joint Conference on Computational Intelligence - Volume 1: FCTA, (IJCCI 2012) ISBN 978-989-8565-33-4, pages 389-394. DOI: 10.5220/0004117503890394


in Bibtex Style

@conference{fcta12,
author={Veljko Potkonjak and Nenad Bascarevic and Predrag Milosavljevic and Kosta Jovanovic and Owen Holland},
title={Experience-based Fuzzy Control of an Anthropomimetic Robot},
booktitle={Proceedings of the 4th International Joint Conference on Computational Intelligence - Volume 1: FCTA, (IJCCI 2012)},
year={2012},
pages={389-394},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004117503890394},
isbn={978-989-8565-33-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 4th International Joint Conference on Computational Intelligence - Volume 1: FCTA, (IJCCI 2012)
TI - Experience-based Fuzzy Control of an Anthropomimetic Robot
SN - 978-989-8565-33-4
AU - Potkonjak V.
AU - Bascarevic N.
AU - Milosavljevic P.
AU - Jovanovic K.
AU - Holland O.
PY - 2012
SP - 389
EP - 394
DO - 10.5220/0004117503890394