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Essentially, fuzzy logic interconnects two different dimensional information by utilizing a humanoid\u2019s angular momentum error at the torso to actively adjust its end-effector\u2019s 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).<\/jats:p>","DOI":"10.3233\/ifs-151885","type":"journal-article","created":{"date-parts":[[2016,1,15]],"date-time":"2016-01-15T12:24:36Z","timestamp":1452860676000},"page":"613-621","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":5,"title":["Adaptive Fuzzy-PI control of redundant humanoid arm using full-body balance"],"prefix":"10.1177","volume":"30","author":[{"given":"Hak","family":"Yi","sequence":"first","affiliation":[{"name":"Mechanical and Aerospace Engineering, University of California at Los Angeles, Los Angeles, California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Min Sung","family":"Ahn","sequence":"additional","affiliation":[{"name":"Mechanical and Aerospace Engineering, University of California at Los Angeles, Los Angeles, California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dennis W.","family":"Hong","sequence":"additional","affiliation":[{"name":"Mechanical and Aerospace Engineering, University of California at Los Angeles, Los Angeles, California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2015,11,23]]},"reference":[{"key":"e_1_3_1_2_2","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1007\/BF00126069","article-title":"Kinematic control of redundant robot manipulators: A tutorial","volume":"3","author":"Sicilliano B.","year":"1990","unstructured":"SicillianoB., Kinematic control of redundant robot manipulators: A tutorial, Journal of Intelligent and Robotics Systems 3 (1990), 201\u2013212.","journal-title":"Journal of Intelligent and Robotics Systems"},{"key":"e_1_3_1_3_2","unstructured":"PatelR.V. 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