Development of a System Incorporating a Multifunctional Actuator Using an Intelligent Multifunction Control Method | Zendy

Kazuki Kuribayashi | Zendy; Seiji Yasunobu | Zendy

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Development of a System Incorporating a Multifunctional Actuator Using an Intelligent Multifunction Control Method

Author(s) -

Kazuki Kuribayashi,

Seiji Yasunobu

Publication year - 2012

Publication title -

journal of advanced computational intelligence and intelligent informatics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.172

H-Index - 20

eISSN - 1343-0130

pISSN - 1883-8014

DOI - 10.20965/jaciii.2012.p0662

Subject(s) - actuator , computer science , construct (python library) , controller (irrigation) , robot , humanoid robot , control engineering , control system , set (abstract data type) , control theory (sociology) , artificial intelligence , control (management) , engineering , electrical engineering , agronomy , biology , programming language

Next-generation robots, such as humanoid robots, require a multifunction control system. In the present study, a multifunctional actuator is considered in order to construct a multifunction control system more simply. The multifunctional actuator can easily set the parameters of target angle and stiffness, but determining the appropriate parameters is difficult. Therefore, in order to address this difficulty, we construct an intelligent controller based on iMIMOc. This iMIMOc is applied to a robot that incorporates multifunctional actuators, and an iMIMOc system is developed. The effectiveness of the developed system is verified through simulation and real-machine experiments.

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