Fuzzy Logic Velocity Control of a Biped Robot Locomotion and Simulation

Abstract

In this paper, fuzzy logic velocity control of a biped robot to generate gait is studied. The system considered in this study has six degrees of freedom with hip, knee and ankle joints. The joint angular positions are determined utilizing the Cartesian coordinate information of the joints obtained by using camera captured data of the motion. The first derivatives of the calculated joint angular positions are applied as the reference angular velocity input to the fuzzy controllers of the joint servomotors to generate a gait motion. The assumed motion for the biped robot is horizontal walking on a flat surface. The actuated joints are hip, knee and ankle joints which are driven by DC servomotors. The calculated angular velocities of the joints from camera captured motion data are utilized to get the driving velocity functions of the model as sine functions. These functions are applied to the fuzzy controller as the reference angular velocity inputs. The control signals produced by the fuzzy controllers are applied to the servomotors and then the response of the servomotor block is introduced as an input to the SimMechanics model of the biped robot. The simulation results are provided which evaluate the effectiveness of the fuzzy logic controller on joint velocities to generate gait motion.

Desarrollo de un sistema lógico difuso para el control de la locomoción bípeda de un robot humanoide NAO

“…La lógica difusa ha sido aplicada conéxito para la generación de locomoción para robots. Trabajos como [2], [15], [19], [12], [6] y [17] utilizan lógica difusa para la generación de patrones de caminado y estabilización del mismo. En [18] se describe un controlador omnidireccional de caminado bípedo basado en lógica difusa para el robot NAO.…”

Bond graph approach for dynamic modelling of the biped robot and application to obstacle avoidance

“…An effective sensory system has developed to produce a walking trajectory. The velocity controller for stabilizing the walking of the legged robot by using fuzzy logic approach has been proposed in [12]. The simulation environment was developed to estimate the power consumption of the biped robot for gait cycle [13].…”

Fault detection, isolation and reconfiguration of a bipedal-legged robot

“…They developed an effective sensory system and an alternative approach to produce a trajectory using an observer-based predictive control technique with sensory feedback. Ankarali 12 has proposed the fuzzy logic-based velocity control algorithm for efficient walking of a biped robot with hip, knee and ankle joints. The turning of the robot is not considered in this approach.…”