SVR versus neural-fuzzy network controllers for the sagittal balance of a biped robot

IEEE Transactions on Neural Networks

Volumn 20, Issue 12, 2009, Pages 1885-1897

  Ferreira, João P ^a   Crisostomo, Manuel M ^a   Coimbra, A Paulo ^a  

^a UNIVERSITY OF COIMBRA   (Portugal)

Author keywords

Balance; Biped robot; Neural fuzzy (NF) networks; Support vector regression (SVR); Zero moment point (ZMP)

Indexed keywords

BIPED ROBOT; CONTROL METHODS; FIRST-ORDER; FORCE SENSOR; FUZZY NETWORKS; HUMAN GAIT; ON-LINE PERFORMANCE; PERFORMANCE INDICES; PROCESSING TIME; REAL-TIME BALANCE; SIMULATION DATA; SUPPORT VECTOR REGRESSIONS; ZERO MOMENT POINT;

ENGINEERING EXHIBITIONS; ERROR CORRECTION; FUZZY NEURAL NETWORKS; INTELLIGENT COMPUTING; REGRESSION ANALYSIS; ROBOTS; SIMULATORS;

CONTROLLERS;

ALGORITHM; ARTICLE; ARTIFICIAL NEURAL NETWORK; BIOMECHANICS; BODY EQUILIBRIUM; COMPUTER SIMULATION; FOOT; FUZZY LOGIC; GAIT; HUMAN; INSTRUMENTATION; METHODOLOGY; NONLINEAR SYSTEM; PHYSIOLOGY; ROBOTICS;

ALGORITHMS; BIOMECHANICS; COMPUTER SIMULATION; FOOT; FUZZY LOGIC; GAIT; HUMANS; NEURAL NETWORKS (COMPUTER); NONLINEAR DYNAMICS; POSTURAL BALANCE; ROBOTICS;

EID: 72149089300     PISSN: 10459227     EISSN: None     Source Type: Journal    
DOI: 10.1109/TNN.2009.2032183     Document Type: Article

References (44)

1. Honda Worldwide, Mar. 18, 2008 [Online]. Available: http://world. honda.com/ASIMO/new/
2. The Humanoid Robot Research Center at KAIST, Mar. 18, 2008 [Online]. Available: http://hubolab.kaist.ac.kr/KHR-3.php
3. Biped Humanoid Robot Group-WASEDA, Mar. 18, 2008 [Online]. Available: http://www.takanishi.mech.waseda.ac.jp/research/ wabian/index.htm
4. Sony, Mar. 18, 2008 [Online]. Available: http://www.sony.net/Sony-Info/ QRIO/top-nf.html
5. M. Vukobratović, B. Borovac, D. Surla, and D. Stokic, Biped locomotion: Dynamics, Stability, Control and Application. Berlin, Germany: Springer-Verlag, 1990.
6. N. Mamiko, M. Michitake, and N. Jun, "Trajectory planning for a leg swing during human walking," in Proc. IEEE Int. Conf. Syst. Man Cybern., 2004, pp. 784-790.
7. Y. Jang-Hee, S. N. Mark, and J. H. Chris, "Extracting human gait signatures by body segment properties," in Proc. 5th IEEE Southwest Symp. Image Anal. Interpret., pp. 35-39.
8. J. P. Ferreira, M. M. Crisóstomo, A. P. Coimbra, D. Carnide, and A. Marto, "A human gait analyzer," in Proc. IEEE Int. Symp. Intell. Signal Process., Madrid, Spain, Oct. 3-5, 2007, pp. 1-5.
9. D. A. Winter, The Biomechanics and Motor Control of Human Movement, 2nd ed. New York: Wiley, 1990.
10. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The development of Honda humanoid robot," in Proc. Int. Conf. Robot. Autom., 1998, pp. 1321-1326.
11. Q. Huang, S. Kajita, K. Kaneko, K. Yokoi, K. Komoriya, and K. Tanie, "A high stability, smooth walking pattern for a biped robot," in Proc. Int. Conf. Robot. Autom., 1999, pp. 65-71.
12. I. W. Park, J. Y. Kim, J. Lee, and J. H. Oh, "Online free walking trajectory generation for biped humanoid robot KHR-3(HUBO)," in Proc. IEEE Int. Conf. Robot. Autom., Orlando, FL, May 2006, pp. 1231-1236.
13. J. Y. Kim, J. Lee, and J. H. Oh, "Experimental realization of dynamic walking for a human-riding biped robot, HUBO FX-1," Adv. Robot., vol.21, no.3-4, pp. 461-484, 2007.
14. V. Prahlad, G. Dip, and C. M. Hwee, "Disturbance rejection by online ZMP compensation," Robotica, vol.26, pp. 1-9, 2007.
15. K. H. Low, X. Liu, C. H. Goh, and H. Yu, "Locomotive control of a wearable lower exoskeleton for walking enhancement," J. Vib. Control, vol.12, no.12, pp. 1311-1336, 2006.
16. J. H. Park, "Fuzzy-logic zero-moment point trajectory generation for reduced trunk motions of biped robots," Fuzzy Sets Syst., vol.134, pp. 189-203, 2003.
17. M. Gh. Negoita, D. Kim, N.-H. Kim, S.-J. Seo, and G.-T. Park, "Fuzzy modeling of zero moment point trajectory for a bipedwalking robot," in Lecture Notes in Artificial Intelligence. Berlin, Germany: Springer- Verlag, 2004, vol.3214, pp. 716-722.
18. K. C. Choi, M. C. Lee, and J. M. Lee, "Fuzzy posture control for a biped walking robot based on force sensor for ZMP," in Proc. 11th Int. Symp. Artif. Life Robot., Oita, Japan, Jan. 23-25, 2006, pp. 1185-1189.
19. J. P. Ferreira, T. G. Amaral, V. F. Pires, M. M. Crisóstomo, and A. P. Coimbra, "A neural-fuzzy walking control of an autonomous biped robot," in Proc. 10th Int. Symp. Robot. Appl., Seville, Spain, Jun. 21-23, 2004, pp. 253-258.
20. D. Sim, J. Seo, and G. T. Park, "Zero moment point trajectory modeling of a bipedwalking robot using an adaptative neuro-fuzzy system," Proc. Inst. Electr. Eng.-Control Theory Appl., vol.152, no.4, pp. 411-426, Jul. 2005.
21. S. Behnke, "Online trajectory generation for omnidirectional biped walking," in Proc. IEEE Int. Conf. Robot. Autom., Orlando, FL, May 2006, pp. 1597-1603.
22. D. Katić and M. Vukobratović, "Survey of intelligent control algorithms for humanoid robots," in Proc. 16th Int. Fed. Autom. Ccontrol World Congr., Prague, Czech Republic, Jun. 27, 2006, pp. 401-412.
23. K. H. Park, J. Jo, and J. H. Kim, "Stabilization of a biped robot based on two mode Q-learning," in Proc. 2nd Int. Conf. Autonom. Robots Agents, Palmerston North, New Zealand, Dec. 13-15, 2004, pp. 446-451.
24. V. Vapnik, The Nature of Statistical Learning Theory. New York: Springer-Verlag, 1998.
25. J. P. Ferreira, M. M. Crisóstomo, A. P. Coimbra, and B. Ribeiro, "Simulation control of a biped robot with support vector regression," in Proc. IEEE Int. Symp. Intell. Signal Process.,Madrid, Spain, Oct. 3-5, 2007, pp. 1-6.
26. J. S. R. Jang, "ANFIS: Adaptive-network-based fuzzy inference system," IEEE Trans. Syst. Man Cybern., vol.23, no.3, pp. 665-685, May/Jun. 1993.
27. R. M. Mohamed and A. A. Farag, "Classification of multispectral data using support vector machines approach for density estimation," in Proc. IEEE 7th Int. Conf. Intell. Eng. Syst., Assiut, Egypt, Mar. 2003, pp. 102-109.
28. V. Vapnik, S. Golowich, and A. Smola, "Support vector method for multivariate density estimation," in Advances in Neural Information Processing systems. Cambridge, MA: MIT Press, 1999, vol.12, pp. 659-665.
29. C. Chih-Chung and L. Chih-Jen, LIBSVM: A Library for Support Vector Machines. Jan. 2, 2007.
30. J. G. Ziegler and N. B. Nichols, "Optimum settings for automatic controllers," Trans. ASME, vol.64, pp. 759-768, Nov. 1942.
31. D. M. Katić, A. D. Rodić, and M. K. Vukobratović, "Hybrid dynamic control algorithm for humanoid robots based on reinforcement learning," J. Intell. Robot. Syst., vol.51, no.1, pp. 3-30, Jan. 2008.
32. Y. Nakamura, T. Mori, M.-A. Sato, and S. Ishii, "Reinforcement learning for a biped robot based on a CPG-actor-critic method," Neural Netw., vol.20, no.6, pp. 723-735, Aug. 2007.
33. J. Morimoto, J. Nakanishi, G. Endo, G. Cheng, C. G. Atkeson, and G. Zeglin, "Poincaré-Map-based reinforcement learning for biped walking," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 18-22, 2005, pp. 2381-2386.
34. K. Hitomi, T. Shibata, Y. Nakamura, and S. Ishii, "Reinforcement learning for quasi-passive dynamic walking of an unstable biped robot," Robot. Autonom. Syst., vol.54, no.12, pp. 982-988, Dec. 2006.
35. E. Schuitema, D. G. E. Hobbelen, P. P. Jonker, M. Wisse, and J. G. D. Karssen, "Using a controller based on reinforcement learning for a passive dynamic walking robot," in Proc. 5th IEEE-RAS Int. Conf. Humanoid Robots, Dec. 5, 2005, pp. 232-237.
36. S. Hyone and G. Cheng, "Disturbance rejection for biped humanoids," in Proc. IEEE Int. Conf. Robot. Autom., Roma, Italy, Apr. 10-14, 2007, pp. 2668-2675.
37. S. Kajita, T. Nagasaki, K. Kaneko, and H. Hirukawa, "ZMP-based biped running control," IEEE Robot. Autom. Mag., vol.14, no.2, pp. 63-72, Jun. 2007.
38. O. Stasse, A. Escande, N. Mansard, S. Miossec, P. Evrard, and A. Kheddar, "Real-time (self)-collision avoidance task on a HRP-2 humanoid robot," in Proc. IEEE Int. Conf. Robot. Autom., Pasadena, CA, May 19-23, 2008, pp. 3200-3205.
39. M. R. Heinen and F. S. Osório, "Gait control generation for physically based simulated robots using genetic algorithms," in Lecture Notes in Computer Science-Advances in Artificial Intelligence. Berlin, Germany: Springer-Verlag, Oct. 2006, pp. 562-571.
40. D. Goswami, P. Vadakkepat, and D. K. Phung, "Genetic algorithm- based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed," Robotica, vol.27, no.3, pp. 355-365, 2008.
41. S. J. Yoo, J. B. Park, and Y. H. Choi, "Robust control of planar biped robots in single support phase using intelligent adaptive backstepping technique," Int. J. Control Autom. Syst., vol.5, no.3, pp. 269-282, Jun. 2007.
42. S. H. Lee, J. B. Park, and Y. H. Choi, "Sliding mode control based on self-recurrent wavelet neural network for five-link biped robot," in Proc. Int. Joint Conf. SICE-ICASE, Oct. 18-21, 2006, pp. 726-731.
43. J. Or and A. Takanishi, "A biologically inspired CPG-ZMP control system for the real-time balance of a single-legged belly dancing robot," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Sendai, Japan, Oct. 2, 2004, pp. 931-936.
44. J. P. Ferreira, M. Crisóstomo, and A. P. Coimbra, "Rejection of an external force in the sagittal plane applied on a biped robot using a neuro-fuzzy controller," in Proc. IEEE Int. Conf. Adv. Robot.,Munich, Germany, Jun. 22-26, 2009, pp. 1-6.