Fuzzy PID Control for Bipedal Robots based on Quantum Computing

摘要

This paper aims to propose a fuzzy PID controller based on quantum computing to enable the bipedal robot system to achieve autonomous balanced walking and obstacle avoidance. The hardware configuration of this system uses Arduino Mega 2560 as the main control board, and is equipped with an MPU-6050 gyroscope and a Pixy2.1 vision module to provide all the sensing data required for the bipedal robot to walk and avoid obstacles, and to obtain the robot location and environmental obstacle information in real time. The control strategy uses quantum computing to perform operations on the fuzzy PID controller to generate control commands so that the bipedal robot can achieve stable walking and obstacle avoidance. In addition, the study also compared the performance between quantum computing and traditional computing, thereby demonstrating the excellent performance of quantum computing in the control required for bipedal robots. Finally, this study verified the effectiveness of the proposed fuzzy PID controller for quantum computing through experiments in which the biped robot walked autonomously and balancedly on flat ground and narrow paths to avoid obstacles.