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Fuzzy associative memory for humanoid robot joint control

Authors
Publisher
Australian Robotics and Automation Association Inc
Publication Date
Keywords
  • 080101 Adaptive Agents And Intelligent Robotics
Disciplines
  • Computer Science

Abstract

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.

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