OTHER
Fuzzy associative memory for humanoid robot joint control
D. J. Turk, Damien Kee, Christopher Myatt, Gordon Wyeth
- Year
- 2005
- Citations
- 5
Abstract
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 feedforward FAM, with considerable reduction in joint position error achieved online and with minimal additional computational overhead. 1
Keywords
Humanoid robotComputer scienceJoint (building)Controller (irrigation)Fuzzy control systemContent-addressable memoryReduction (mathematics)Fuzzy logicControl theory (sociology)Overhead (engineering)
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