Fuzzy Logic Velocity Control of a Biped Robot Locomotion and Simulation
نویسندگان
چکیده
منابع مشابه
Locomotion control of a biped locomotion robot using nonlinear oscillators
This paper proposes the locomotion control system for a biped locomotion robot. The proposed control system is composed of motion generator system and motion control system. Motion generator system is composed of nonlinear oscillators which generate the commanded trajectories of the joints as functions of phases of oscillators. Motion control system is composed of motors with controllers instal...
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Biped robots are expected to walk on many di erent and previous unknown terrains, and thus they may walk on a slippery surface with low friction with no information on the surface a priori. Any fall-down due to unexpected slipping could costly damage the robot and thus should be avoided. This paper proposes a re ex control method for biped robots to quickly recover their posture from a slip soo...
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Human locomotion is extremely adaptive and robust to changes in environment, body size, and morphology. The control of this highly adaptive system is thought to be performed by central pattern generators , supported by a system of sensorimotor connections called reflexes. Several studies on central pattern generators have been conducted, alone and in concert with reflexes. However, controllers ...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2012
ISSN: 1729-8814,1729-8814
DOI: 10.5772/52555