Development of a walking robot by using FPGA controller

Abstract

In this paper, a walking robot has, continuously, been designed and developed with a FPGA controller board. The VHSIC hardware description language programming (VHDL) cooperated with the fuzzy logic technique has, consequently, been used as a developed software programming for controlling the robot movements either in the unobstructed or obstructed areas. Three infrared sensors and twenty-one of analog servo motors have, directly, been connected to the FPGA board as the input and output units. By investigating the experimental setup in two main parts; walking in unobstructed and obstructed areas respectively, the experimental results shown that the robot can move in the desired areas without any effects occurred.