25 Citations (Scopus)

Abstract

We present our ongoing work on the development of Adaptive Neuro Fuzzy Inference System (ANFIS) Controller for humanoid servant robot designed for navigation based on vision. In this method, black line on the landmark used as a track for robot's navigation using webcam as line sensor. We proposed architecture of ANFIS controller for servant robot based on mapping method, 3 input and 3 output applied to the controller. Only 45 training data used for navigation and best error starting at epoch 62. Each of the components are described in the paper and experimental results are presented. Humanoid servant robot also equipped with 4DOF arm robot, face recognition and text to speech processor. In order to demonstrate and measure the usefulness of such technologies for human-robot interaction, all components have been integrated and have been used for a servant robot named Srikandi I. Based on experiments, ANFIS controller succesfully implemented as controller for robot's navigation.

Original languageEnglish
Title of host publication2010 2nd International Conference on Computer Engineering and Applications, ICCEA 2010
Pages582-586
Number of pages5
DOIs
Publication statusPublished - 2010
Event2nd International Conference on Computer Engineering and Applications, ICCEA 2010 - , Indonesia
Duration: 19 Mar 201021 Mar 2010

Publication series

Name2010 2nd International Conference on Computer Engineering and Applications, ICCEA 2010
Volume1

Conference

Conference2nd International Conference on Computer Engineering and Applications, ICCEA 2010
Country/TerritoryIndonesia
Period19/03/1021/03/10

Keywords

  • ANFIS controller
  • Adaptive neuro fuzzy
  • Robot's navigation
  • Service robot

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