Fuzzy publications:

Odry Péter, Divéki Szabolcs, Burány Nándor, Gyantár László: Fuzzy control of brush motor – problems of computing, SISY Vol 2., 2004

Abstract: This paper deals with the problem of fuzzy control of universal motors and with the application of microcontrollers and minimum electronic (buck converter). The article discusses the issues of realizing the program neighborhood.

O Péter, D Szabolcs, C Andor, B Nandor:  Fuzzy Logic Motor Control with MSP430x14x, Application Report, Texas Instruments, SLAA 235, 2005

Abstarct: This application report discusses the implementation of a fuzzy logic control algorithm using an MSP430F14x device. Fuzzy logic control algorithms can be used to solve problems that are difficult to address with traditional control techniques. As an example, a universal serial motor speed control system is demonstrated.

K Nagy, S Divéki, P Odry, M Sokola, V Vujičić: A Stochastic Approach to Fuzzy Control; Acta Polytechnica Hungarica 9 (6), 29-48

Abstract: The paper presents the utilization of low-resolution data for control purposes.  The control is based on fuzzy logic, with the deployment of stochastic digital low-resolution time arrays. Every control decision contains a degree of imprecision, being derived from measured low-resolution data. The imprecision is eliminated by stochastic noise superimposed during the data gathering, while the negative effects of noise are suppressed both by the fuzzy nature of the decision-making process and by the energy inertia in the controlled object. The proposed stochastic fuzzy control is extremely fast, robust and so simple that it practically does not need a microprocessor. This approach is validated by a simulation of holding upright an inverse pendulum.

Hexapod robot publications:

E Burkus, P Odry: Autonomous Hexapod Walker Robot “Szabad (ka)”; Acta Polytechnica Hungarica 5 (1), 69-85

Abstract: “Szabad(ka)” is a hexapod walker constructed at the Polytechnical Engineering  College “VTS” Subotica to test and help implementing algorithms, designed by the Hungarian science institute called ”KFKI”, and our college. These algorithms are connected to combined force and position control, and their primary goal is to achieve robust, adaptable walking in rough and unknown environment, and to calculate the prospective and best route. The article describes the problems which appeared during the process of realization. Starting from the imperfections of the designed construction we describe the justification of the implementation of ANFIS in the further development of the robot.

I Kecskés, P Odry: Full Kinematic and Dynamic Modeling of “Szabad (ka)-Duna” Hexapod; SISY Vol 7., 2009, pp: 215 – 219

Abstract: This article describes the creation MATLAB model for the six-legged walking robot by the name of new ldquoSzabad(ka)-Dunardquo, starting from the creation of the motor model through the inverse kinematic and inverse dynamic model to the insertion of the control algorithms.

Z Pap, I Kecskés, E Burkus, F Bazsó, P Odry: Optimization of the hexapod robot walking by genetic algorithm; SISY Vol 8., 2010 pp: 121 – 126

Abstract: In building walking hexapod robot great time and effort is needed to optimize robot walking. When simulating robotic gaits, several parameters affect simulation output. These parameters need to be optimized in order to achieve optimal robot movement. Genetic algorithm is used to optimize parameters in the simulation.

I Kecskés, P Odry:  Protective Fuzzy Control of Hexapod Walking Robot Driver in Case of Walking and Dropping, Computational Intelligence in Engineering; Studies in Computational Intelligence, Volume 313, 2010, pp 205-217

Abstract: The new hexapod walking robot is assembly phase. It was design to overcome rough terrain using the latest numerical tests on the model. One of the likelihoods of walking on rough terrain is falling over. This posed the requirement that the robot had to be able to continue walking even after multiple falls. One of the goals was to create a control mechanism in the engine layer that will ensure optimal walk as well as protection from breaking down. In order to achieve the best results, it would be necessary to ensure the feedback of the torque, but there was no possibility for that. Thus the only solution was to feedback the engine power; however, such feedback will input a delay into the feedback branch anyway. The suitable Fuzzy rules are being sought for, which will help minimize the effects of the delay in the control branch. The fitness function is defined for determining the optimal hexapod walk algorithm. During the test the worst cases were tested with the lower arm of the robot closing in a 90 degree angle with the upper arm due to the fall, this is when the robot structure is endures maximum load.

I Kecskés, P Odry:  Walk Optimization for Hexapod Walking Robot;  CINTI, Vol 10, 2009, pp 265-277

Abstract: Our research is a part of the process of building the new walking hexapod robot.  The marginal parameters affecting the quality of robot drive is discussed in detail in this article. Such parameters are the following: the division of the arm’s pathway; the application of FIR filter for the filtering the robot foot pathway; and in Fuzzy control the rpm error and maximum value of total current consumption. The analyses of these parameters enable us to determine the optimal drive engines, as well as the drive software parameters PSO and GA optimization methods comparison on simulation model of a real hexapod robot.

I Kecskés, L Székács, JC Fodor, P Odry:  PSO and GA optimization methods comparison on simulation model of a real hexapod robot; ICCC, Vol 9., 2013, pp: 125-130

Abstract: The Szabad(ka)-II hexapod robot with 18 DOF is a suitable mechatronic device for the development of hexapod walking algorithm and engine control [1, 2]. The required full dynamic model has already been built [3], which is used as a black-box for the walking optimizations in this research. The ellipse-based walking trajectory has been generated that was required by the low-cost straight line walking [4], and the purpose was to optimize its parameters. The Particle Swarm Optimization (PSO) method was chosen for simple and effective working, which does not require the model’s mathematical description or differentiation. Previously the authors performed an evolutionary Genetic Algorithm (GA) optimization for a similar trial case [5], and posed the principles of the quality measurement of hexapod walking [4, 5]. The same visual evaluation and comparison was applied in this paper for the results of both optimization methods. PSO has produced better and faster results compared to GA.

E Burkus, JC Fodor, P Odry: Structural and gait optimization of a hexapod robot with Particle Swarm Optimization; SISY Vol 11., 2013, pp: 147 – 152

Abstract: The aim of this paper is to introduce a novel method for determining the structure and dimensions of a walking robot using an optimization method. With this solution the parameters of the robot’s gait algorithm can also be fine-tuned. Prior to the construction of the authors’ latest robot called Szabad(ka) II, a sophisticated modeling was carried out. With the help of this model, the functionality of the robot could be checked before the manufacturing process. Until recently modeling has been used mostly for the verification of the construction, but as the next step it will be used for defining the structure and dimensions. The definition of the optimal parameters can be solved with optimization methods. The Particle Swarm Optimization (PSO) meets the expectations.

E Burkus, P Odry: Mechanical and walking optimization of a hexapod robot using PSO; ICCC Vol 9., 2013, pp: 177 – 180

Abstract: In this paper a novel solution is introduced for determining the dimensions and construction of a walking robot using an optimization method. During our previous research and development several hexapod walking robots have been built. The latest model called Szabad(ka) II is a complex, servo motor driven, multiprocessor device made of aluminum and steel. Prior to its construction sophisticated modeling was carried out, with special attention to the smallest physical, mechanical and electrical parts. With this model the functionality of the robot could be checked before the manufacturing process. For the time being, modeling was used only for verifying the construction, but as the next step it will be used for defining the construction and dimensions. Manually this is practically impossible, therefore the process requires automatization. The definition of the optimal parameters can be solved with optimization methods. For the task the Particle Swarm Optimization (PSO) was chosen.

I Kecskes, P Odry: Simple definition of adequate fixed time-step size of Szabad (ka)-II robot model; ICCC Vol 9., 2013, pp: 315 – 320

Abstract: The current research is part of the building of a dynamic model for Szabad(ka)-II hexapod walking robot. The fixed-step solver type was used within the Simulink environment and the inverse dynamics was calculated using the Robotics Toolbox. The model based on rigid-body dynamics should comprise a sponge-coated foot. A simple approximate spring-damper model was implemented for the modeling of ground-foot contact which causes the fastest transient dynamic event. The calculation errors were measured and obtained at the deflection of the spring-damper in order to define the adequate accuracy. The aim was to find the optimal sampling when the calculation errors are negligible but without the use of unnecessary and too many calculations. This paper establishes three simple definitions for the estimation of the adequate fixed-step size.

Four wheeled mobile robot publications:

I Kecskés, Z Balogh, P Odry: Modeling and fuzzy control of a four-wheeled mobile robot; SISY Vol 10., 2012 pp: 205 – 210

Abstract: While studying the movement of driven robots a four-wheeled car is one of the most commonly used and preferred models. In the modeling process it can be assumed that the motion occurs in a two-dimensional space and the object can be driven forward or backward. In the foreseen task, the robot must reach a target point by some predefined specific control requirements. The simplified kinematic bicycle model of a four-wheeled robot car, mentioned in [1] has been upgraded for the purposes of this research. It has been observed that the simplified model was not sufficiently adequate and accurate. Reference [1], besides the previous simplified model, also contains a P route controller. A new Fuzzy route control has been applied, because it was more customizable compared to the simple PID control. This article describes a comparison of the results between P and Fuzzy controllers. Based on the results obtained it has been concluded that it would be worthwhile to further develop this model and control system.

I Kecskés, P Odry: Fuzzy route control of dynamic model of four-wheeled mobile robot; LINDI Vol 4., 2012, pp: 215 – 220

Abstract: The dynamic model calculates the forces and electric activities that appear during the movement of the robot. The article [1] demonstrates a full kinematic model of a four-wheeled robot car which we have expanded with a minimal dynamic model in this work. Fuzzy route control was applied, because it was more customizable than the simple PID control. In the foreseen task, the robot must reach a target point by some predefined specific requirements. We performed a comparison between the P route controller solution in article [2] and our Fuzzy controller for a case. Fuzzy logic, one of the most suitable soft computing methods which can represent the knowledge base of the routing requirement [3]. We developed fitness function evaluation of driving, for which the kinematic and dynamic characteristics are required.