Fuzzy logic force control for a biped robot

摘要

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">&gt;</ETX>