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首页> 外文期刊>Journal of Advanced Computatioanl Intelligence and Intelligent Informatics >A Study on Fuzzy Control of Humanoid Soccer Robot EFuRIO for Vision Control System and Walking Movement
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A Study on Fuzzy Control of Humanoid Soccer Robot EFuRIO for Vision Control System and Walking Movement

机译：仿人足球机器人视觉控制系统EFuRIO和步行运动的模糊控制研究

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摘要

Instability is one of the major defects in humanoid robots. Recently, various methods on the stability and reliability of humanoid robots have been studied actively. We propose a new fuzzy-logic control scheme for vision systems that would enable a robot to search for and to kick a ball towards an opponent goal. In this paper, a stabilization algorithm is proposed using the balance condition of the robot, which is measured using accelerometer sensors during standing and walking, and turning movement are estimated from these data. From this information the robot selects the appropriate motion pattern effectively. In order to generate the appropriate reaction in various body of robot situations, a fuzzy algorithm is applied in finding the appropriate angle of the joint from the vision system. The performance of the proposed algorithm is verified by searching for a ball, walking, turning tap and ball kicking movement experiments using an 18-DOF humanoid robot, called EFuRIO.
机译：不稳定是类人机器人的主要缺陷之一。近来，关于类人机器人的稳定性和可靠性的各种方法已经被积极地研究。我们为视觉系统提出了一种新的模糊逻辑控制方案，该方案可使机器人搜索并向对手的目标踢球。在本文中，提出了一种利用机器人的平衡条件的稳定算法，该平衡条件是在站立和行走过程中使用加速度传感器测量的，并根据这些数据估算转弯运动。机器人从该信息中有效地选择适当的运动模式。为了在各种机器人情况下产生适当的反应，将模糊算法应用于从视觉系统中找到关节的适当角度。该算法的性能通过使用称为EFuRIO的18自由度人形机器人搜索球，步行，转攻和踢球运动实验来验证。

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