Fuzzy Control for Walking Balance of the Biped Robot Using ZMP Criterion

摘要

The dynamic walking stability of biped robot is a challenging research topic. In this paper, the fuzzy controller on zero movement point (ZMP) criterion is implemented to maintain the balance of dynamic walking. We designed a force sensitive resistor (FSR) sensor circuits to collect information from the sensors for the ZMP trajectory tracking. The robot walking has an imbalance when the ZMP shows the risk of moving out the footprint. The fuzzy controller is provided to drive the ZMP inside the ZMP reference area, by adjusting a suitable angle for the ankle and hip joint. In order to determine the ZMP reference, we compute the inverse kinematic and Jacobian coordinates from the biped robot model. In this research, we also introduce the biped robot configuration for control dynamic walking. A user interface is designed to conventionally observe the ZMP trajectory generation. The experimental results for stability of dynamic walking are presented to appreciate the proposed method.