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This paper proposed method of designing control system for two humanoid robots to transport objects stably in mutual collaboration with the use of PID and Fuzzy control. When a robot transports an object while walking, the transportation of object may not be stable due to vibration or external factors occurred from departure speed error and walking of the robot. Therefore, it is necessary to measure and calibrate the horizontal and vertical locations and speeds of object with PID control with reference to the chest coordinate of robots and then calibrate the difference of departure speed between robots with Fuzzy control. We expect that The results of simulation with two robots indicated that robots can transport objects stably.