Stable walking of quadruped robots using fuzzy back-stepping approach

Author

Shakourzadeh, Shabnam ; Farrokhi, Mohammad

Author_Institution

Electr. Eng. Dept., Iran Univ. of Sci. & Technol., Tehran, Iran

fYear

2014

fDate

15-17 Oct. 2014

Firstpage

840

Lastpage

845

Abstract

In this paper, adaptive fuzzy back-stepping controller for the tracking control of a nine-degree of freedom quadruped robot has been investigated. First, the back-stepping controller has been designed and its inherent stability has been studied using the Lyapunov theory. Due to the unknown control coefficient in the back-stepping method, a fuzzy system has been employed to change these coefficients adaptively. The proposed method has been applied to the quadruped robot and path-tracking problem has been studied. The simulation results show good performance of the proposed controller as compared to the recently proposed methods in literature.

Keywords

Lyapunov methods; control nonlinearities; fuzzy control; legged locomotion; path planning; stability; Lyapunov theory; fuzzy back-stepping approach; path-tracking problem; quadruped robots; stability; stable walking; tracking control; Fuzzy systems; Joints; Legged locomotion; Lyapunov methods; Niobium; Back-stepping controller; Fuzzy systems; Lyapunov stability; Quadruped robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on

Conference_Location

Tehran

Type

conf

DOI

10.1109/ICRoM.2014.6991009

Filename

6991009