Fuzzy intelligent emotion and instinct control of a robotic unicycle

摘要

The study of rider's postural stability control on a unicycle began from the observation of a human riding on a unicycle with vestibular model as the intelligent biomechanic model which includes instinct and intuition mechanisms. We developed a new biomechanic model with two closed link mechanisms and one turntable to emulate a human riding a unicycle by a robot. Our work is on the improvement of fuzzy control method. Simulation results show that both robot's longitudinal and lateral postures can be stabilized successfully on basis of AI fuzzy control system.