Hierarchical Adaptive Neuro-Fuzzy Control of a Biped Robot

نوع: Type: thesis

مقطع: Segment: masters

عنوان: Title: Hierarchical Adaptive Neuro-Fuzzy Control of a Biped Robot

ارائه دهنده: Provider: Farzaneh Alimoradi

اساتید راهنما: Supervisors: Prof. Soheil Ganjehfar

اساتید مشاور: Advisory Professors:

اساتید ممتحن یا داور: Examining professors or referees: جناب آقای دکتر مجید غنی­ئی - جناب آقای دکتر محمدامین قاسمی

زمان و تاریخ ارائه: Time and date of presentation: 2021

مکان ارائه: Place of presentation:

چکیده: Abstract: The design and development of bipedal humanoid robots is one of the most important topics in various engineering disciplines such as electrical, mechanical and computer. Urban environment, homes and workplaces are designed for humans. The advantage of these robots over other robots is that due to their similarity to humans, they can easily move and serve in such environments. In designing and controlling these robots, it is always endeavored to emulate humans. Previous researches have shown that human control his/her stability in a hierarchically manner. Fuzzy concepts and neural networks have also been developed inspired by the behavior of creatures such as humans. In this thesis, the aim is to apply these concepts in a general format to control the gait of a bipedal robot. Accordingly, after robot modeling, a hierarchical method has been implemented to control the stability of the robot. In the first level of the hierarchical method, the appropriate strategy for responding to perturbations is determined using fuzzy logic. In the second level, using optimization, the desired paths for the implementation of the strategy are determined, and in the third level, the tracking of trajectories is done. The designed controller is based on feedback linearization. The gains of the controller are determined using the Adaptive Neuro Fuzzy Inference System (Anfis). The simulation results confirm the efficiency of the method. The results show that by using this method, natural and human-like movements can be produced for the robot and the control effort is reduced. Key Words: Biped Robots, Hierarchical Control, fuzzy Logic, Adaptive Neuro Fuzzy Control

فایل: ّFile: Download فایل