Quadruped Robot Balance Control For Stair Climbing Based On Fuzzy Logic

摘要

Robots are a tool that is widely developed today, such as Humanoid, Animal, and others. In this study we discussed about animal robots. One such type of robot is Quadruped Robot. The problem that often arises in quadruped robots is that when performing stunts to be able to walk up or climb a ladder, the robot will not be able to walk with the posture adjusting the slope in the arena. This is due to the effect of earth's gravitational force that results in robots always being attracted to earth. This results in the robot's body losing balance and can accelerate damage to the servo motor due to the robot's unbalanced load. With this problem, this paper makes the control system with Fuzzy Logic place the load position in the middle of the COG (center of gravity) to balance the robot on the trajectory. The balance of the robot uses the IMU (Inertia Measurement Unit) position sensor reference with the reference derived from the angle slope (Yaw, Pitch and Roll) which is processed to adjust changes in the x, y and z axes, so that the robot can adapt to the trajectory of the stairs.