TY - GEN
T1 - Genetic design of biped walking fuzzy logic controller
AU - Cardenas, Selene
AU - Castillo, Oscar
AU - Aguilar, Luis T.
AU - Rodriguez, Antonio
PY - 2009
Y1 - 2009
N2 - This paper presents the automatic design, through a multi-objective genetic algorithm, of a fuzzy logic controller (FLC) applied to walking of a biped robot. The design approach of the FLC comprises two aspects: tuning the antecedents and consequents membership functions parameters and obtain the antecedents and consequents fuzzy partition of a rule base with a fixed structure such that allow to perform tracking of a walking pattern. Optimization results of the FLC design for a 3-DOF biped robot and the tracking results are provided.
AB - This paper presents the automatic design, through a multi-objective genetic algorithm, of a fuzzy logic controller (FLC) applied to walking of a biped robot. The design approach of the FLC comprises two aspects: tuning the antecedents and consequents membership functions parameters and obtain the antecedents and consequents fuzzy partition of a rule base with a fixed structure such that allow to perform tracking of a walking pattern. Optimization results of the FLC design for a 3-DOF biped robot and the tracking results are provided.
UR - http://www.scopus.com/inward/record.url?scp=67650503779&partnerID=8YFLogxK
U2 - 10.1109/HIMA.2009.4937818
DO - 10.1109/HIMA.2009.4937818
M3 - Contribución a la conferencia
AN - SCOPUS:67650503779
SN - 9781424427581
T3 - 2009 IEEE Workshop on Hybrid Intelligent Models and Applications, HIMA 2009 - Proceedings
SP - 7
EP - 12
BT - 2009 IEEE Workshop on Hybrid Intelligent Models and Applications, HIMA 2009 - Proceedings
T2 - 2009 IEEE Workshop on Hybrid Intelligent Models and Applications, HIMA 2009
Y2 - 30 March 2009 through 2 April 2009
ER -