Fuzzy Based Self-transforming Robot

Self-transforming robot is a robot which transforms its shape according to the hindrance occurring in the path where the robots are being moved. Such robots have been recognized as very attractive design in exhibiting the reliable transformation according to the situations. Military and defense application needs a robot should possess arbitrary movements like human. In some scenarios transformations are made by biological inspired control strategies using Central Pattern Generators (CPG). CPG is used in the locomotion control of snake robots, quadruped robots, to humanoid robots. This paper presents a Fuzzy system for the Self-transforming robot which possess alteration in its original shape to exhibit a human-like behavior while passing over the particular location. Quadrupedal locomotion on rough terrain and unpredictable environments is still a challenge, where the proposed system will provide the good adaptability in rough terrain. It allows the modulation of locomotion by simple control signal. The necessary conditions for the stable dynamic walking on irregular terrain in common are proposed. Extensive simulations are carried out to validate the performance of the proposed Fuzzy system using LABVIEW. Arbitrary parameters such as distance, angle and orientation of the obstacles are provided as input to the fuzzy system which gives the required speed modulation on the motoric module.