Strategy of Adaptive Fuzzy Control of Crab-Like Robot

Because of generally inferior precision requirements of control of crab-like robot, intensively coupling, time-varying and complicated control system, the intelligent control strategy is more appropriate. The advantages of the crab-like walking robot and intelligent control are discussed, applications of adaptive fuzzy control in biomimetic robots are also proposed. With considerations of architecture, characteristics and design principles of typical fuzzy controller, the method of an adaptive fuzzy control was brought forward. For establishing self-learning fuzzy rules base, coordinate transformations, differential locomotion transformation matrices, as well as displacement sensor data are adopted. The stability, influence of control precision, and judge of quantity and quality of fuzzy rules of the fuzzy control system are discussed. With the algorithm of the fuzzy controller simulated to validate the performances of self-learning controller, and with the parameters of the crab-like robot confirmed, the simulation diagrams were plotted