Adaptive Fuzzy-PI control of redundant humanoid arm using full-body balance

This paper presents an adaptive Fuzzy-PI control strategy that incorporates a humanoid's upper body rotational motion when controlling its redundant arm. Essentially, fuzzy logic interconnects two different dimensional information by utilizing a humanoid's angular momentum error at the torso to actively adjust its end-effector's control parameters (PI) at every loop. The results from two different simulations show that the tracking errors of the proposed Fuzzy-PI scheme is relatively smaller than those of the conventional method. These results imply that Fuzzy-PI can partially compensate for errors in one dimension (end-effector) by taking into account the state of another dimension (torso).