Robustness of a Biped Robot Controller Developed by Human Expertise Extraction against Changes in Terrain

S.S. Tabrizi and S. Bagheri (Iran)


Fuzzy logic, Robotics, Biped robot, Expertise extraction,Linguistic control


Controlling dynamic biped robots is a complex challenge. Almost all researches in this field assume that the internal structure and dynamics of the robot is known to the controller. But in real-world problems we don't have exact model of the robot or this model is very complicated and is not useful in real-time control. As a matter of fact, we use many devices without any knowledge about their internal structure or analytical models. Some researchers used learning algorithms to control bipeds, but their performance is not comparable to human's learning. Fuzzy controllers can control the bipeds with lower cost, but they need sufficient rules. In the previous works we proposed a linguistic controller. In order to design the controller a human with no robotics skills tried to control a biped using a joystick. Visual information of robot posture is all the available information to the operator. Recognizing that the operator became enabled to control the robot successfully, we extracted his knowledge as 23 fuzzy rules. These rules fed to robot and the robot could walk autonomously. In this paper we show the robustness of this controller against rough terrain.

Important Links:

Go Back