Improvement of the walking robot dynamic stability using the DSmT and the neutrosophic logic

Abstract

This paper presents an innovative algorithm for improvement of the walking robot dynamic stability, using the Desert Smarandache Theory (DSmT) and the neutrosophic logic set. Starting from the hybrid force-position control, by applying the Robot Neutrosophic Control (RNC) method we extend the fuzzy control for walking robot stability motion on uneven terrain and in unstructured environments. Results analysis through virtual experimentation for motion control of a mobile walking robot proves that the neutrosophic logic leads to performance improvement of real time control through robustness, adaptation to robot's environment, efficient control and fast and clear identification of robot states.