Bionic artificial leg design and control simulation based on fuzzy PID control algorithm

Based on the analysis of problems that exist in the common humanoid robot leg, to make artificial leg gait better to be human, its improved structure is designed in this paper. In order to make the walking gait of artificial leg more natural, the four-bar mechanism is used as its knee joint. In order to make the artificial leg have better flexibility, the pneumatic artificial muscle (PAM) is adopted as the driving source of its knee joint. The control simulation of artificial leg based on fuzzy PID control algorithm is done and the simulation results indicate that artificial leg can simulate human normal walking gait precisely.