Fuzzy associative memory for humanoid robot joint control
| Contribuinte(s) |
Sammut, Claude |
|---|---|
| Data(s) |
2005
|
| Resumo |
Traditional approaches to joint control required accurate modelling of the system dynamic of the plant in question. Fuzzy Associative Memory (FAM) control schemes allow adequate control without a model of the system to be controlled. This paper presents a FAM based joint controller implemented on a humanoid robot. An empirically tuned PI velocity control loop is augmented with this feed forward FAM, with considerable reduction in joint position error achieved online and with minimal additional computational overhead. |
| Formato |
application/pdf |
| Identificador | |
| Publicador |
Australian Robotics and Automation Association Inc |
| Relação |
http://eprints.qut.edu.au/32839/1/c32839.pdf http://www.araa.asn.au/acra/acra2005/papers/turk.pdf Turk, Dong, Kee, Damien, Myatt, Chris, & Wyeth, Gordon (2005) Fuzzy associative memory for humanoid robot joint control. In Sammut, Claude (Ed.) Proceedings of Australasian Conference on Robotics and Automation 2005, Australian Robotics and Automation Association Inc, Sydney, N.S.W. |
| Direitos |
Copyright 2005 [please consult the authors] |
| Palavras-Chave | #080101 Adaptive Agents and Intelligent Robotics |
| Tipo |
Conference Paper |
