Stable walking of quadruped robots using fuzzy back-stepping approach

Abstract

In this paper, adaptive fuzzy back-stepping controller for the tracking control of a nine-degree of freedom quadruped robot has been investigated. First, the backstepping controller has been designed and its inherent stability has been studied using the Lyapunov theory. Due to the unknown control coefficient in the back-stepping method, a fuzzy system has been employed to change these coefficients adaptively. The proposed method has been applied to the quadruped robot and path-tracking problem has been studied. The simulation results show good performance of the proposed controller as compared to the recently proposed methods in literature.