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This paper describes a gait pattern generation and the mechanisms of a biped humanoid robot that has 42 DOFs in total. The movable angles of the joints of the biped robot are about the same as those of a human. Its height is 1.66 [m] and its weight is 62.5 [kg]. If disturbance forces are applied to the waist when the robot is walking, the robot should change its step length to control its balance...
In this paper, the stabilization condition for the continuous time affine fuzzy system is proposed under the imperfect premise matching. The affine fuzzy system means that the Takagi-Sugeno (T-S) fuzzy system contains the constant bias terms unlike the homogeneous fuzzy system. The constant bias terms make difficult to analyze the characteristics of the affine fuzzy system. In order to solve this...
This study aims to develop an effective control approach for force control of a typical EHA system. This control scheme is considered as an advanced combination of a feedforward neural network — based PID (FNNPID) controller and a fuzzy grey predictor (FGP), shortened as feedforward neural network fuzzy grey predictor (FNNFGP). Here, the FNNPID controller is used to drive the system to desired targets...
In this paper, a fuzzy compensation (FC) technique along with the on-line system identification of two actuator systems of a one-wheel robot. Recursive least square (RLS) algorithm is used to identify the system with FIR-typed moving average filters for both a gimbal and a body system. To compensate for uncertainties in the modeling process, a fuzzy compensator is designed. Experimental studies of...
This paper proposes methods for the development of mathematical models and for the control of operation modes of technological objects in oil refinery in face of uncertainty based on fuzzy information. The mathematical formulation of the problem of decision-making on controlling modes, which are solved on the basis of mathematical modeling, is formalized and obtained. By using the example of the problem...
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