Authors: Luige Vladareanu; Alexandru Gal; Hongnian Yu; Mingcong Deng
Addresses: Institute of Solid Mechanics of the Romanian Academy, 010141, C-tin Mille 15, Bucharest, Romania ' Institute of Solid Mechanics of the Romanian Academy, 010141, C-tin Mille 15, Bucharest, Romania ' Faculty of Science and Technology, Bournemouth University, Poole, Dorset BH12 5BB, UK ' Department of Electrical and Electronic Engineering, Koganei, Tokyo University of Agriculture and Technology, Tokyo 184-8588, Japan
Abstract: This paper presents the robot control intelligent interfaces for improvement of the walking robot dynamic stability, using the Dezert-Smarandache theory (DSmT) and the neutrosophic logic set (NLS). Starting from the hybrid force-position control by applying the robot neutrosophic control (RNC) method, known as Vladareanu-Smarandache method, we extend the fuzzy control for walking robot stability motion on uneven terrain and in unstructured environments. Results analysis through virtual experimentation for motion control of a mobile walking robot proves that the neutrosophic logic leads to performance improvement of real time control through robustness, adaptation to robot's environment, efficient control and fast and clear identification of robot states.
Keywords: hybrid control; force control; position control; walking robots; robot control; sliding mode control; SMC; fuzzy control; neutrosophic logic; switching logic; legged locomotion; intelligent interfaces; dynamic stability; Dezert-Smarandache theory; robot stability; robot dynamics; motion control; robot motion.
International Journal of Advanced Mechatronic Systems, 2015 Vol.6 No.2/3, pp.128 - 135
Available online: 20 Jul 2015 *Full-text access for editors Access for subscribers Purchase this article Comment on this article