2012
DOI: 10.5772/52555
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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 ge… Show more

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Cited by 5 publications
(7 citation statements)
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References 12 publications
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“…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.…”
Section: Estado Del Arteunclassified
“…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.…”
Section: Estado Del Arteunclassified
“…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].…”
Section: Introductionmentioning
confidence: 99%
“…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.…”
Section: Introductionmentioning
confidence: 99%