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JACIII Vol.16 No.5 pp. 662-667
doi: 10.20965/jaciii.2012.p0662
(2012)

Paper:

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

Kazuki Kuribayashi and Seiji Yasunobu

Division of Intelligent Interaction Technologies, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

Received:
December 28, 2011
Accepted:
April 17, 2012
Published:
July 20, 2012
Keywords:
intelligent multi-input multi-output control (iMIMOc), predictive fuzzy control, multifunctional actuator, multifunction control system
Abstract

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.

Cite this article as:
Kazuki Kuribayashi and Seiji Yasunobu, “Development of a System Incorporating a Multifunctional Actuator Using an Intelligent Multifunction Control Method,” J. Adv. Comput. Intell. Intell. Inform., Vol.16, No.5, pp. 662-667, 2012.
Data files:
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