Fuzzy associative memory for humanoid robot joint control
Turk, Dong , Kee, Damien , Myatt, Chris , & Wyeth, Gordon (2005) Fuzzy associative memory for humanoid robot joint control. In Sammut, Claude (Ed.) Proceedings of Australasian Conference on Robotics and Automation 2005, Australian Robotics and Automation Association Inc, Sydney, N.S.W.
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 feed forward FAM, with considerable reduction in joint position error achieved online and with minimal additional computational overhead.
Impact and interest:
Citation countsare sourced monthly fromand citation databases.
These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.
Citations counts from theindexing service can be viewed at the linked Google Scholar™ search.
Full-text downloadsdisplays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.
|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Copyright Owner:||Copyright 2005 [please consult the authors]|
|Deposited On:||23 Jun 2010 14:15|
|Last Modified:||11 Aug 2011 03:58|
Repository Staff Only: item control page