Fuzzy controlled gait synthesis for a biped walking machine

The control of biped walking machines is studied by using an intelligent controller. This controller is based on the hierarchically intelligent control approach, proposed by G.N. Saridis (1983), distributing the control in levels according to the principle of decreasing precision with increasing intelligence. This hierarchy has three basic levels: organization, coordination, and execution. In an intermediate level of precision and intelligence the coordination level has a tree structure, with a root called a dispatcher and a finite set of subnodes called coordinators. The development of the walk coordinator which is one of these subnodes. The walk coordinator has been designed as a rule based system that works with fuzzy logic structures. The walk coordinator has two different rule levels called prescription and compensation levels. This division is based on the prescribed synergy method introduced by M. Vukobratovic et al. (1990). The initial rules have been obtained from biomechanical studies of human walking. In addition to the fuzzy controller, some learning modules can be added to the coordinator