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dc.contributor.authorTu, KYen_US
dc.contributor.authorLee, TTen_US
dc.date.accessioned2014-12-08T15:39:50Z-
dc.date.available2014-12-08T15:39:50Z-
dc.date.issued2004-01-01en_US
dc.identifier.issn0253-3839en_US
dc.identifier.urihttp://hdl.handle.net/11536/27213-
dc.description.abstractWhen a biped robot detects obstacles along its path, it will reduce its walking speed to change direction for obstacle avoidance. It is essential for a biped robot to be able to vary its speed during walking. To control biped robots with variable walking speed capability, a Multi-Layer Fuzzy Logic Controller (MLFLC) is developed using the pole assignment technique in this paper. This method extends the previous result, that a switching surface, whose parameters are scaling factors, exists in a Multi-Layer Fuzzy Logic Controller (Tu et al., 2000). In this study, the poles of a closed-loop control system are derived relative to the switching surface parameters, i.e. the normalized scaling factors. Therefore, after choosing the appropriate poles, scaling factors are determined and then a Multi-Layer Fuzzy Logic Controller is designed. This design has two important features: (1) simplifying Fuzzy Logic Controller (FLC) design to select only the scaling factors; (2) pursuing the system performance requirement, based on the pole assignment. A three-link biped robot is used as the illustrative example. Simulation results are included.en_US
dc.language.isoen_USen_US
dc.subjectfuzzy logic controlleren_US
dc.subjectbiped roboten_US
dc.subjectvarying speeden_US
dc.titleDesign of a multi-layer fuzzy logic controller using pole assignment for bipedal walking at varying speedsen_US
dc.typeArticleen_US
dc.identifier.journalJOURNAL OF THE CHINESE INSTITUTE OF ENGINEERSen_US
dc.citation.volume27en_US
dc.citation.issue1en_US
dc.citation.spage55en_US
dc.citation.epage68en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000188190800006-
dc.citation.woscount2-
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