Mathematical Problems in Engineering

Volume 2016 (2016), Article ID 1984634, 19 pages

http://dx.doi.org/10.1155/2016/1984634

## Data-Based Control for Humanoid Robots Using Support Vector Regression, Fuzzy Logic, and Cubature Kalman Filter

^{1}Department of Electronic Engineering, Shunde Polytechnic, Foshan, Guangdong 528300, China^{2}School of Automation, Xi’an University of Posts and Telecommunications, Xi’an 710121, China

Received 28 March 2016; Accepted 29 May 2016

Academic Editor: Mohammad D. Aliyu

Copyright © 2016 Liyang Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

#### Abstract

Time-varying external disturbances cause instability of humanoid robots or even tip robots over. In this work, a trapezoidal fuzzy least squares support vector regression- (TF-LSSVR-) based control system is proposed to learn the external disturbances and increase the zero-moment-point (ZMP) stability margin of humanoid robots. First, the humanoid states and the corresponding control torques of the joints for training the controller are collected by implementing simulation experiments. Secondly, a TF-LSSVR with a time-related trapezoidal fuzzy membership function (TFMF) is proposed to train the controller using the simulated data. Thirdly, the parameters of the proposed TF-LSSVR are updated using a cubature Kalman filter (CKF). Simulation results are provided. The proposed method is shown to be effective in learning and adapting occasional external disturbances and ensuring the stability margin of the robot.

#### 1. Introduction

In general, lots of experiences are needed to turn the parameters of the controller for humanoid walking robots [1, 2]. At the same time, the turned parameters could be out of operation once external disturbances occurred [3, 4]. It is still a giant challenge for humanoid robots to walk autonomously in disturbed environments. How to improve the antidisturbance ability of humanoid robots using the data online and offline is an interesting problem to be settled.

Traditionally, an accurate dynamic model of the considered robot should be built in order to implement the desired high-quality control [5, 6]. The dynamic model of humanoid robots is a set of strong coupling nonlinear ordinary differential equations about the joint variables. When humanoid robots walk slowly, the coupling among the joints can be treated as disturbances. In this case, proportion integration differentiation (PID) control for each independent joint can be adopted. Additionally, inverse dynamics feed-forward control, decoupling control, and feedback linearization control also can be considered. All the above-mentioned methods have a common feature that they are dependent on the established mathematical model strongly. The control effect could be great if the system model is known exactly. However, these methods need to be improved in practical applications because there always exist external disturbances and the system model cannot be known exactly [7, 8]. Due to the cumulative errors in disturbances, when the robot is tracking the walking pattern planned in advance, the difference between actual motion states and target values will increase rapidly. As a consequence, humanoid robots always fall down after a few steps. To keep stable and sustained humanoid walking, the control systems must be improved to cope with the disturbances.

To realize the stable walking of humanoid robots, researchers proposed some effective methods, such as stability controls based on linear inverted pendulum model, stability controls based on ZMP theory, and attitude controls for the upper part of robot. By summarizing the existing humanoid prototypes, ZMP-based methods are the most popular and practical [9–13]. When the humanoid dynamics (the masses of each module, the center of mass, and the moment of inertia) is known exactly, the gait of a humanoid robot can be obtained by solving the ZMP equation. However, it is really difficult to collect all the precise parameters from a physical robot. As a result, several simplified methods are proposed to guarantee the stability criterion of ZMP. For example, Liu et al. designed an effective fuzzy logic (FL) controller for humanoid walking robots using ZMP as one of the antecedents [14]. Inspired by this literature, we try to realize a kind of data-based control with implicit constraints of ZMP.

Considering the time-varying external disturbances, it is necessary to deduce the control torques referring to the time-varying states of the humanoid joints. The support vector machine (SVM) is supervised learning methods with associated learning algorithms that analyze data [15–17]. SVMs can be used to solve the classification problems [18, 19] and also the regression problems [20–22]. In this paper, support vector regression (SVR) is used to expresses the scene of solving the regression problems using SVM. The formulation of SVM employs the structural risk minimization (SRM) principle, which has been shown to be superior to the empirical risk minimization (ERM) based on infinite samples. SRM is a technique where nested sets of functions of different complexity, controlled by the regularization term, are considered. One could select then the one which is minimizing the upper bound on the generalization error. This feature makes SVM more efficient in resolving the learning problems with limited training data. To cope with time-varying external disturbances, a time-based fuzzy SVR will be proposed to learn the dynamics between the states and the control torques of each joint in this work.

On the other hand, the effectiveness of time-based fuzzy SVR depends on the design of the SVR and the parameters of the fuzzy system. Kalman filter has been used in algorithm studies on the training of neural networks and fuzzy systems. Singhal and Wu [23] demonstrated that the EKF could serve as the basis for training MLP networks by treating the weights of the network as a nonlinear dynamical system. Inspired by the successful application of the Kalman filter for training neural networks [24] and for defuzzification strategies [25], Simon [26] built a nonlinear system to train fuzzy systems using an extended Kalman filter. Recently, there is a research [27] that embedded a third-degree spherical-radial cubature rule into the Bayesian filter to build a kind of new filter named CKF. CKF has demonstrated excellent performance in solving nonlinear filtering problems with minimal computational effort [28–31]. Therefore, we will explore approaches to train the proposed time-based fuzzy SVR using CKF.

The contributions of this work can be summarized as follows:(i)For the first time, a trapezoidal fuzzy SVR is proposed to cope with time-varying external disturbances imposed on humanoid robots.(ii)For the first time, a novel approach for training the trapezoidal fuzzy SVR using CKF is presented.

The organization of this paper is as follows. In Section 2, the backgrounds of humanoid robots, SVR, and CKF are presented. The details for proposed framework are presented in Section 3. Simulation results are provided in Section 4, followed by the conclusions in Section 5.

#### 2. Background

##### 2.1. Dynamic Balance of Humanoid Robots

The dynamic equations of the single support phase (SSP) can be written aswhere is the generalized coordinate and is the inertia matrix. denotes the matrix of centripetal acceleration and Coriolis terms, is the gravity vector, and denotes the input torque vector during the SSP. The external disturbances are represented by .

The dynamic equations of the double support phase (DSP) can be written aswhere is a Jacobian matrix and is the force vector of constraints caused by the contact with ground.

To analyze the stability of the humanoid motions, the ZMP theory is used as the criterion of dynamic humanoid balance in this work. The concept of zero moment point (ZMP) has been applied to many famous humanoid robots successfully, such as ASIMO [11] of Honda. ZMP is a well-known concept introduced in 1990 [32], which is a point on the ground at which the net moment of the inertial forces and the gravity forces has no component along the horizontal axes. At a given time instant, dynamic balance of legged systems is ensured if the ZMP is inside the support area.

##### 2.2. Support Vector Regression

In this section, we briefly review the basis of the theory of SVR.

Given a labeled training data set , is the input vector of the system and is the output vector. The basic idea of SVR is mapping the input space into a higher dimension feature space using the nonlinear mapping function and searching the optimal linear regression function in this feature space. Objective function of the least squares SVR (LS-SVR) [17] is where is a positive real constant for tuning. The error of the regression becomes smaller when the value of is smaller. is a weight vector and is a bias; is the positive slack variable enabling dealing with permitted errors. To solve this optimization problem we construct the Lagrangianand we find the saddle point of , where is the input vector of the system and is the output vector. is a vector of the Lagrange multipliers. The parameters must satisfy the following conditions:Eliminating and , problem (3) can be transformed intowhere , , , is a square matrix, which has elements of , and is a kernel function. For example, denotes a radial basis function (RBF) kernel. Submitting the optimal and , the regression function of the least squares SVR [17] is

##### 2.3. Cubature Kalman Filter

To describe the CKF, we consider the filtering problem of a nonlinear dynamic system with additive noise, whose state space model is defined by a process equation and a measurement equation in discrete time:where is the state of the dynamic system at discrete time ; and are some known functions; is the control input; is the measurement; and are independent process and measurement Gaussian noise sequences with zero means and covariances and , respectively.

When we deal with a problem of state estimation using a nonlinear filtering, the integrals for the means and variances of the states can be expressed as the form of a Gaussian-weighted integral. Consider a Gaussian-weighted integral of the following form:where is an arbitrary function and is the region of integration. There are different integration methods to derive different nonlinear filters.

For a CKF, the spherical-radial cubature rule is adopted to implement the integration. Let , and integration (9) can be separated into radial integration and spherical integration. That is,where is the surface of the sphere defined by . Using Lagrange integration, the radial integration can be rewritten as where . Using a cubature rule of degree three, the spherical integration can be rewritten aswhere denotes the th column of set . For example, when .

Combining (11) and (12), the spherical-radial cubature rule is as follows [27]:For standard Gaussian distribution, (13) can be rewritten aswhere denotes the Gaussian density of with mean and covariance . Combining (9) and (14), we getwhere is the dimension of the state vector. The point is called cubature point here. and can be calculated as follows:This means that, for the third-degree spherical-radial rule, it entails a total of cubature points. After calculating the cubature points, we use the cubature-point set to numerically compute the integrals and obtain the CKF algorithm; details of time update and measurement update can be found in the literature [27].

#### 3. Data-Based Control for Humanoid Walking Robots

External disturbance is one of the key issues which influence the stability of humanoid walking robots. On the other side, it is difficult to measure the external disturbances directly. Based on these facts, we turn away to focus attention on the data of the humanoid states and the corresponding control torques because the pattern of the disturbances can be disclosed using the varying data collected from the humanoid robots to some extent.

First of all, the states and the control torques of the humanoid joints are collected from a simulated stable walking robot. Then, a data-based controller considering the varying states of the humanoid robot is designed using SVR and fuzzy theory. To optimize the controller, a CKF is designed to train the parameters of the SVR and the fuzzy system. The complete framework for data-based humanoid control using SVR, FL, and CKF is shown in Figure 1.