Fuzzy Omnidirectional Walking Controller for the Humanoid Soccer Robot

Fast and flexible walking is necessary for humanoid robots in the Robocup soccer competition. We propose a new fuzzy-logic control scheme that would enable the robot to realize flexible walking with high standard of stability by restricting the step length and inclining the body of robot to an appropriate logic body control scheme uses the desired walking direction and rotating angle as an input. The biped walking robot can walk to any direction quickly and efficiently without falling down according to the obtained body inclining angle. We demonstrate the effectiveness of the algorithm by successful combined walking tasks in a faithful simulation of a full-body humanoid robot. The proposed control scheme helped us to win the champion of Robocup 2009.