: etd-0708110-125934 : ():

: etd-0708110-125934 :(): 4972C095

AI USB AI matlab

1.1 1.2 1.31.4 2.1 2.2 2.3 ()10 1

1 n2 16.52.3 15

2 3 AI AI 4 AI 8 5 AI 8

4 AI 8 5 AI 8 MEGAROBOTICSAI (AI Motor-1001)AI 11 2 AI 6 AI

6 AI 9 (Hip)(Upper Leg)(Lower Leg)(Foot):

9

3. 1 (Zero Moment Point)(N)(M)P NP N 10 ZMP ZMP 11

11 10 ZMPZMPZMP

12 (X (t),Z (t)) 13

13 1965 L.A. Zadeh Zadeh (Fuzzy Sets)Zadeh Type-1 FLS 4.1

(crisp set)0()1()40km/hr62km/hr70km/hr60km/hr A (40)=0 A (62)=101(membership function) 40[0,1](defuzzifier)

[0,1][0,1][22] (Type-reducer)4.8(COG, Center of Gravity)(Embedded Type-1 Fuzzy Set)(Embedded Type-1Fuzzy Set)

4. 8 (Interval Type-2 FLC)1 [13][23]4.9

4. 9 AI 4.10AI

4. 10 2 4cm8cm0.25cm 1.5cm5.2.1 8cm4cm1.5cm0.25cm5.2.1 AI 0.096cm

5.2. 1 5.2.4

5.2. 4 AI AI Matlab AI AI-1001 (MIMO)[1] Yamataka, M., Nakanishi, H., Yamabuchi, K. and Nakamura, A.Development of a small animal-type biped robot and its walking controlsystem, Proceedings of the IEEE-RAS International Conference onHumanoid Robots, pp. 197204, 2001.[2] G.S. Hornby, S. Takamura, J. Yakono, U. Hanagata, T. Yamamoto,Evolving Robot Gaits with AIBO, Proceeding of the 2000 IEEEInternational Conference on Robotics and Automation SanFrancisco .CA, April, 2000[3] Ysnshong Shan and Yoaram Koren, Design and Motion Planning of aMechanical Snake. IEEE Transaction on system, man, andCybernetics, Vol. 23, No. 4, pp.10911100, July/August, 1993[4] Masaki Yamakita, Minoru Hashimoto, Takeshi Yamada, Control ofLocomotion and Head Configuration of 3D Snake Robot. Proceedingsof the 2003 IEEE International Conference on Robotics & AutomationTaipei, Taiwan, pp.20552060, September 14-19, 2003.[5] K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, The development ofHonda humanoid robot, Proceedings IEEE International Conference onRobotics and Automation , pp. 1321 1326, 1998.[6] Hirai, K., Current and Future Perspective of Honda Humanoid Robot,IEEE/RSI International Conf. On Intelligent Robots and Systems, pp. 500-508, 1997.[7] Martin Chun-Sheng Cheng ,Dynamical near optimal training forInterval type-2 fuzzy neural network (T2FNN) with genetic algorithm ,Griffith University, Brisbane, Australia ,March 2003.[8] N.N.Karnik, J. M. Mendel and Q. Liang Type-2 Fuzzy logic systemsIEEE Trans.Fuzzy Syst., vol. 7, pp.643,Dec. 1999.[9] Liang, Q. and Mendel, J.M., Interval type-2 fuzzy logic systems: theoryand design. IEEE Transactions on Fuzzy Systems.v10 i2. 117-127,Oct2000.[10] , ,,1988.[11] , ,,2004.[12] , Matlab C Type-2 , ,,July 2007,pp3291~3294.[13] , , , Sep.2004 ,pp1507~1513[14] AI_MOTOR-1001_manual_v1[2].02_english, MegaRobotics Ltd, 2005.[15] , , , 2002.[16] , , , 2004.[17] , , , 2005.[18] , , , 2004.[19]2008.[20] , , , 2005.[21] , , , 2005.[22] Jerry M. Mendel, Type-2 Fuzzy Sets and Systems:An Overiew. IEEEComputational Intellingence Magazine. pp.21-29,Feb 2007.[23] Hani Hagras, Type-2 FLCs : A New Generation of Fuzzy Controllers.IEEE Computational Intellingence Magazine.pp.30-43,Feb 2007.[24] Kato, I. and Tsuiki, H. The hydraulically powered biped walkingmachine with a high carrying capacity, Fourth Symposium onExternal Extremities. Dubrovnik: Yugoslav Committee forElectronicsand Automation.[25] C.L. golliday, Jr and H.Hemani. An Approach Analyzing BipedLocomotion Dynamics and Designing Robot Locomotion Control,IEEE Transactions On Automation Control, Vol. 22, No. 6, pp.963-972,1977.[26] F.Miyazaki, and S. Arimotr, A Control Theoretic study onDynamical Biped Locomotion, ASME. Journal of Dynamic Systems,Measurement and Control, Vol. 102, pp. 233-239, 1980.[27]. J. Fursho and A. Sano, Sensor Based Control of a Nine Link BipedRobot, The International Journal of Robotics Research, Vol.9, No.2,pp.83-98, 1998.