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.

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