Walking Control of Humanoid Robots on Uneven Ground Using Fuzzy Algorithm

Abstract

Walking control of humanoid robots is a challenging issue. In this chapter, a method for modeling humanoid robots is presented considering the human being indices such as DOFs, mass and the moment of inertia of the segments. In the next step, a walking pattern on the flat ground is generated and the robot motion is simulated in the MSC. Visual Nastran 4D™ software. ZMP trajectory of the simulated humanoid robot in walking cycle has been obtained. An uneven ground is generated in the software, where the robot falls down during the motion. A fuzzy algorithm is employed to balance the robot; input is defined as the differences between the projections of ZMP in flat and uneven ground and output is a compensative signal to make the robot follow the flat ground ZMP pattern to refuse the robot falling. Output signal is distributed in different joints to make faster and more effective compensation. Although the type of uneven ground can be important, but the robot could successfully pass the designed uneven ground in MSC.Visual Nastran 4D.