Fuzzy Nonlinear Controller for Stable Walking of Biped Robots
نویسندگان
چکیده
ontrol of underactuated biped robots is one of the challenging problems in the robotics field. The main difficulties of this problem that make it hard to control are its highly nonlinear dynamics, open-loop instability and impact event at the end of each step. Partial feedback linearization is a method to control underactuated systems but it is not robust against uncertainties and disturbances. This fact restricts the performance of the method to control walking or running of biped robots. In this paper we propose a fuzzy partial feedback linearization controller to improve this drawback mainly. Numerical simulations verify the effectiveness of the proposed method to generate stable bipedal walking gaits robustly against disturbances.
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