TY - GEN
T1 - Quadruped Robot Control Base on Adaptive Neuro-Fuzzy Inference System with V-REP Simulator
AU - Wasista, Sigit
AU - Tjandrasa, Handayani
AU - Wibisono, Waskitho
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/24
Y1 - 2020/11/24
N2 - This study aims to design a Quadruped robot control on a new medium-sized Quadruped robot design called Kancil, which has 4 arms with 2 freedoms (4 x 2-DOF) with an overall weight of 5kg. ANFIShere is used as a balance regulator for the movement of the robot legs and CPG-VDP as a periodic drive system. The MIMO ANFIS structure is designed with two inputs and four outputs which are used tocontrol the shoulder movements of the Quadruped robot, to maintain body balance so as not to fall. Input data for the gyro sensor tilt is -45 degrees to 45 degrees, studied in the ANFIS machine. TheANFIS output is then simulated using the V-REP simulator software, by converting the output data into a leg path so that it can be simulated. From the test results, the robot can pass through obstacles while walking down 30 degrees and 45 degrees in a balanced state and not falling.
AB - This study aims to design a Quadruped robot control on a new medium-sized Quadruped robot design called Kancil, which has 4 arms with 2 freedoms (4 x 2-DOF) with an overall weight of 5kg. ANFIShere is used as a balance regulator for the movement of the robot legs and CPG-VDP as a periodic drive system. The MIMO ANFIS structure is designed with two inputs and four outputs which are used tocontrol the shoulder movements of the Quadruped robot, to maintain body balance so as not to fall. Input data for the gyro sensor tilt is -45 degrees to 45 degrees, studied in the ANFIS machine. TheANFIS output is then simulated using the V-REP simulator software, by converting the output data into a leg path so that it can be simulated. From the test results, the robot can pass through obstacles while walking down 30 degrees and 45 degrees in a balanced state and not falling.
KW - Adaptive Neuro-Fuzzy Inference System (ANFIS)
KW - Central Pattern Generator (CPG)
KW - Quadruped Robot
KW - Van Der Pol (VDP)
UR - http://www.scopus.com/inward/record.url?scp=85100886329&partnerID=8YFLogxK
U2 - 10.1109/ICOIACT50329.2020.9332008
DO - 10.1109/ICOIACT50329.2020.9332008
M3 - Conference contribution
AN - SCOPUS:85100886329
T3 - 2020 3rd International Conference on Information and Communications Technology, ICOIACT 2020
SP - 280
EP - 285
BT - 2020 3rd International Conference on Information and Communications Technology, ICOIACT 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Information and Communications Technology, ICOIACT 2020
Y2 - 24 November 2020 through 25 November 2020
ER -