Title :
Design and implementation of a hexapod with 2-Degree-Of- Freedom legs and its fuzzy-controller for the obstacle avoidance
Author :
Rajput, Jahanzeb ; Hasan, Kazi Mahmud
Author_Institution :
Nat. Eng. & Sci. Comm., Pakistan
Abstract :
In this work, the design of a six-legged walking machine, named MPS-I, is presented, where a hexapod with 2-Degree-Of-Freedom (DOF) legs is designed and implemented. To make the MPS-I intelligent, a fuzzy logic based controller design is discussed and its implementation is presented. This controller makes MPS-I capable of easily navigating through obstacles.
Keywords :
collision avoidance; control system synthesis; fuzzy control; intelligent control; legged locomotion; MPS-I six-legged walking machine; degree-of-freedom leg; fuzzy logic controller design; hexapod; intelligent control; obstacle avoidance; walking robot design; Design engineering; Fuzzy logic; Insects; Intelligent robots; Leg; Legged locomotion; Mobile robots; Navigation; Robot kinematics; Servomechanisms; Biologically-Inspired Robots; Fuzzy logic; Hexapod; Legged Robots; Obstacle avoidance;
Conference_Titel :
Electrical Engineering, 2009. ICEE '09. Third International Conference on
Conference_Location :
Lahore
Print_ISBN :
978-1-4244-4360-4
Electronic_ISBN :
978-1-4244-4361-1
DOI :
10.1109/ICEE.2009.5173164
