Title :
Fuzzy logic force control for a biped robot
Author :
Shih, Ching-Long ; Gruver, William A. ; Zhu, Yun
Author_Institution :
Center for Robot. & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
Abstract :
A variable gain fuzzy logic control method for a biped robot in the double-support phase is developed, and it is shown that the proposed system can be used to balance the robot statically. The characteristics of the biped in the double-support phase are formulated, and the basic structure of the fuzzy logic controller is reviewed. The proposed variable gain fuzzy control system is derived. A hardware implementation and experimental results are described
Keywords :
force control; fuzzy logic; position control; robots; biped robot; double-support phase; force control; variable gain fuzzy logic control method; Control systems; Foot; Force control; Fuzzy logic; Gravity; Intelligent robots; Leg; Legged locomotion; Position control; Robot kinematics;
Conference_Titel :
Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-0106-4
DOI :
10.1109/ISIC.1991.187369
