Adaptive Fuzzy-PI control of redundant humanoid arm using full-body balance

Article type: Research Article

Authors: Yi, Hak^* | Ahn, Min Sung | Hong, Dennis W.

Affiliations: Mechanical and Aerospace Engineering, University of California at Los Angeles, Los Angeles, California, USA

Correspondence: [*] Corresponding author. Hak Yi, Mechanical and Aerospace Engineering, University of California at Los Angeles, Los Angeles, California, USA. Tel.: +310 206 4810; Fax: +310 206 2302; E-mail: yihak@ucla.edu.

Abstract: This paper presents an adaptive Fuzzy-PI control strategy that incorporates a humanoid’s upper body rotational motion when controlling its redundant arm. Essentially, fuzzy logic interconnects two different dimensional information by utilizing a humanoid’s angular momentum error at the torso to actively adjust its end-effector’s control parameters (PI) at every loop. The results from two different simulations show that the tracking errors of the proposed Fuzzy-PI scheme is relatively smaller than those of the conventional method. These results imply that Fuzzy-PI can partially compensate for errors in one dimension (end-effector) by taking into account the state of another dimension (torso).

Keywords: Adaptive Fuzzy-PI, humanoid, manipulation, redundant arm, full-body balance

DOI: 10.3233/IFS-151885

Journal: Journal of Intelligent & Fuzzy Systems, vol. 30, no. 1, pp. 613-621, 2016