Experience-based Fuzzy Control of an Anthropomimetic Robot

Veljko Potkonjak, Nenad Bascarevic, Predrag Milosavljevic, Kosta Jovanovic, Owen Holland

Abstract

This paper aims to present a novel experience-based solution for a black-box control problem, applied to an anthropomimetic robot. The control method is tested on a point to point control problem of a multi-jointed robot arm. The model characteristics – dynamics, kinematics, and control parameters – are considered as unspecified, and therefore we deal with a machine learning approach that follows the cybernetic concept of black-box. The only available data of the system are those obtained from measuring inputs and outputs. The control algorithm involves two levels: feedforward and feedback. The main focus is, however, on feedback level where the algorithm for experience-based estimation of kinematic coefficients is combined with fuzzy logic control in order to relate the control inputs with the robot arm motion in the global frame.

References

  1. Chhabra, M., Jacobs, A., 2008. Learning to combine motor primitives via greedy additive regression. The Journal of Machine Learning Research. vol. 9. pp. 1535-1558.
  2. Gonzalez-Olvera, M., Rodriguez-Morales, A., Tang, Y., 2009. Black-box modeling of a 2-dof manipulator in the image plane using recurrent neurofuzzy networks. In Proc. of the IEEE Int. Conf. on Decision and Control, pp. 8440-8445.
  3. Haruno, M., Wolpert, D., Kawato, M., 2001. MOSAIC model for sensorimotor learning and control. Neural Computation. vol. 13. pp. 2201 - 2220.
  4. Holland, O., Knight, R., 2006. The anthropomimetic principle. In Proc. of The Symposium on Biologically Inspired Robotics edited by J. Burn and M. Wilson.
  5. Ljung, L., 2001. Black-box models from input-output measurements. Proceedings of the 18th IEEE Instrumentation and Measurement Technology Conference. vol.1. pp. 138 - 146.
  6. Potkonjak, V., Svetozarevic, B., Jovanovic, K., Holland, O., 2010. Biologically inspired control of a compliant anthropomimetic robot. In Proc. of the IASTED Int. Conf. on Robotics and Applications. pp. 182 - 189.
  7. Potkonjak, V., Svetozarevic, B., Jovanovic, K., Holland, O., 2012. The puller-follower control of compliant and noncompliant antagonistic tendon drives in robotic system, International Journal of Advanced Robotic Systems, vol. 8, pp 143-155.
  8. Rivals, I., Personnaz, L., 1996. Black-box modeling with state-space neural networks. Neural Adaptive Control Technology. vol. 15. pp. 237-264.
  9. Stulp, F., Fedrizzi, A., Zacharias, F., Tenorth, M., Bandouch, J., Beetz, M., 2009. Combining analysis, imitation, and experience-based learning to acquire a concept of reachability in robot mobile manipulation. In Proc. of the IEEE Int. Conf. on Humanoid Robotics. pp. 161-167.
  10. Tal'nov, A., Serenko, S., Strafun, S., Kostyukov, A., 1999. Analysis of the electromyographic activity of human elbow joint muscles during slow linear flexion movements in isotorque conditions. Neuroscience. vol. 90. pp. 1123-1136.
  11. Van Mulders, A., Schoukens, J., Volckaert, M., Diehl, M., 2010. Two nonlinear optimization methods for black box identification compared. Automatica. vol. 46. pp. 1675-1681.
  12. Zadeh, L., 1965. Fuzzy sets. Information and Control. vol. 8, pp. 338-353.
Download


Paper Citation


in Harvard Style

Potkonjak V., Bascarevic N., Milosavljevic P., Jovanovic K. and Holland O. (2012). Experience-based Fuzzy Control of an Anthropomimetic Robot . In Proceedings of the 4th International Joint Conference on Computational Intelligence - Volume 1: FCTA, (IJCCI 2012) ISBN 978-989-8565-33-4, pages 389-394. DOI: 10.5220/0004117503890394


in Bibtex Style

@conference{fcta12,
author={Veljko Potkonjak and Nenad Bascarevic and Predrag Milosavljevic and Kosta Jovanovic and Owen Holland},
title={Experience-based Fuzzy Control of an Anthropomimetic Robot},
booktitle={Proceedings of the 4th International Joint Conference on Computational Intelligence - Volume 1: FCTA, (IJCCI 2012)},
year={2012},
pages={389-394},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004117503890394},
isbn={978-989-8565-33-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 4th International Joint Conference on Computational Intelligence - Volume 1: FCTA, (IJCCI 2012)
TI - Experience-based Fuzzy Control of an Anthropomimetic Robot
SN - 978-989-8565-33-4
AU - Potkonjak V.
AU - Bascarevic N.
AU - Milosavljevic P.
AU - Jovanovic K.
AU - Holland O.
PY - 2012
SP - 389
EP - 394
DO - 10.5220/0004117503890394