ZHAO Ji, ong, XU Kai, FU Chenglong, YANG Xiangdong. The Self-regulating Fuzzy Nonlinear Control of Roll DOF of Ankle Joint of Humanoid Robot[J]. ROBOT, 2004, 26(2): 127-132.
Citation: ZHAO Ji, ong, XU Kai, FU Chenglong, YANG Xiangdong. The Self-regulating Fuzzy Nonlinear Control of Roll DOF of Ankle Joint of Humanoid Robot[J]. ROBOT, 2004, 26(2): 127-132.

The Self-regulating Fuzzy Nonlinear Control of Roll DOF of Ankle Joint of Humanoid Robot

  • This paper presents a 2-dimension fuzzy controller with the inputs of joints position-tracking errors and joints transmission radio mutations,and the output of control voltages of DC brushless motors. Compared with the former PID-feedforward controller,this fuzzy controller effectively improves the servo performance,which is ever greatly influenced by the nonlinear transmission,especially almost eliminating the lags in joints position-tracking. Both in air and on ground,the robustness of the prototype system is enhanced.
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