Walking Control of Humanoid Robots on Uneven Ground Using Fuzzy Algorithm

Abdolshah, Saeed; Abdolshah, Mohammad; Abdolshah, Majid; Hashemi, Sepideh

doi:10.4018/978-1-5225-1639-2.ch014

Cited by 1 publication

(1 citation statement)

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“…Fakoor et al (2016) have implemented a sensor integration-based navigational scheme for a humanoid robot. Abdolshah et al (2017) have presented a humanoid walking model with the use of fuzzy logic and obtained satisfactory results. Lee et al (2006) have presented gait analysis of a humanoid robot using fuzzy integrated GA.…”

Section: Introductionmentioning

confidence: 97%

Path optimization for navigation of a humanoid robot using hybridized fuzzy-genetic algorithm

Rath

Parhi

Das

et al. 2019

IJIUS

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Purpose Humanoids have become the center of attraction for many researchers dealing with robotics investigations by their ability to replace human efforts in critical interventions. As a result, navigation and path planning has emerged as one of the most promising area of research for humanoid models. In this paper, a fuzzy logic controller hybridized with genetic algorithm (GA) has been proposed for path planning of a humanoid robot to avoid obstacles present in a cluttered environment and reach the target location successfully. The paper aims to discuss these issues. Design/methodology/approach Here, sensor outputs for nearest obstacle distances and bearing angle of the humanoid are first fed as inputs to the fuzzy logic controller, and first turning angle (TA) is obtained as an intermediate output. In the second step, the first TA derived from the fuzzy logic controller is again supplied to the GA controller along with other inputs and second TA is obtained as the final output. The developed hybrid controller has been tested in a V-REP simulation platform, and the simulation results are verified in an experimental setup. Findings By implementation of the proposed hybrid controller, the humanoid has reached its defined target position successfully by avoiding the obstacles present in the arena both in simulation and experimental platforms. The results obtained from simulation and experimental platforms are compared in terms of path length and time taken with each other, and close agreements have been observed with minimal percentage of errors. Originality/value Humanoids are considered more efficient than their wheeled robotic forms by their ability to mimic human behavior. The current research deals with the development of a novel hybrid controller considering fuzzy logic and GA for navigational analysis of a humanoid robot. The developed control scheme has been tested in both simulation and real-time environments and proper agreements have been found between the results obtained from them. The proposed approach can also be applied to other humanoid forms and the technique can serve as a pioneer art in humanoid navigation.

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Section: Introductionmentioning

confidence: 97%