Open AccessFuzzy Logic Velocity Control of a Biped Robot Locomotion and Simulation
Author(s) -
Arif Ankaralı
Publication year - 2012
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/52555
Subject(s) - servomotor , control theory (sociology) , angular displacement , angular velocity , computer science , fuzzy logic , controller (irrigation) , robot , motion control , cartesian coordinate system , fuzzy control system , gait , simulation , artificial intelligence , physics , mathematics , acoustics , control (management) , physiology , geometry , agronomy , biology , quantum mechanics
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