OTHER
Fuzzy logic force control for a biped robot
Ching‐Long Shih, W.A. Gruver, Yaguang Zhu
- Year
- 2002
- Citations
- 19
Abstract
A variable gain fuzzy logic control method for a biped robot in the double-support phase is developed, and it is shown that the proposed system can be used to balance the robot statically. The characteristics of the biped in the double-support phase are formulated, and the basic structure of the fuzzy logic controller is reviewed. The proposed variable gain fuzzy control system is derived. A hardware implementation and experimental results are described.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
Fuzzy logicRobotVariable (mathematics)Controller (irrigation)Control theory (sociology)Fuzzy control systemControl engineeringComputer scienceControl (management)Control system
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