Balance control by diffuse logic for a phoenix hexapod robot

Using diffuse control algorithms, a position control for the six extremities of the Hexapod Robot was built. As input to the controller, a LIS3DSH accelerometer was used, which gives the Roll values for the angle in which the accelerometer tilts, typical of the Discovery STM32F4 card. It was necessary to build a PI controller in order to reduce the error in stationary state and stabilize the robot in a zero degree tilt position, allowing the Hexapod robot to stand and balance automatically over different surfaces.