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Design by applying fuzzy control technology to achieve biped robots with fast and stable footstep

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2 Author(s)
Hai-Wu Lee ; Dept. of Electr. Eng., Nat. Taiwan Univ. of Sci. & Technol., Taipei, Taiwan ; Chih-Lyang Hwang

Robots can adapt strides according to ground conditions and walk stably in different environments. This study uses fuzzy logic control and Linear Quadratic Regulator (LQR) control theory on biped robot system to achieve the development of balanced and fast footsteps. Traditional controllers are designed according to mathematical models of physical systems, while fuzzy controller is a physical system that uses inexact mathematical model involving sets and membership functions. Fuzzy controller includes theories in fuzzification, fuzzy control rules, and defuzzification.

Published in:
Systems, Man, and Cybernetics (SMC), 2012 IEEE International Conference on

Date of Conference: 14-17 Oct. 2012

Page(s):
1575 - 1580
E-ISBN :
978-1-4673-1712-2
Print ISBN:
978-1-4673-1713-9
INSPEC Accession Number:
13191871
Conference Location :
Seoul
Digital Object Identifier :
10.1109/ICSMC.2012.6377961
Product Type:
Conference Publications

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