Title :
Fuzzy intelligent emotion and instinct control of a robotic unicycle
Author :
Ulyanov, S.V. ; Yamafuji, K.
Author_Institution :
Dept. of Mech. & Control Eng., Univ. of Electro-Commun., Tokyo, Japan
Abstract :
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
Keywords :
biomechanics; fuzzy control; intelligent control; physiological models; robot dynamics; stability; two-term control; PD control; fuzzy control; instinct control; intelligent biomechanic model; intuition mechanisms; lateral posture; longitudinal posture; postural stability control; robotic unicycle; vestibular model; Artificial intelligence; Control systems; Fuzzy control; Humans; Intelligent control; Intelligent robots; PD control; Robot control; Robot kinematics; Stability;
Conference_Titel :
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location :
Mie
Print_ISBN :
0-7803-3219-9
DOI :
10.1109/AMC.1996.509392
