| Issue |
ITM Web Conf.
Volume 18, 2018
7th Seminar on Industrial Control Systems: Analysis, Modeling and Computing (ICS 2018)
|
|
|---|---|---|
| Article Number | 01008 | |
| Number of page(s) | 3 | |
| Section | Control Systems and Modelling | |
| DOI | https://doi.org/10.1051/itmconf/20181801008 | |
| Published online | 09 April 2018 | |
Fuzzy logic controller for stabilization of biped robot gait
Kuban State University, 350040 Krasnodar, Russia
* Corresponding author: sechenev.semen@gmail.com
The article centers round the problem of stabilization of biped robot gait through smoothing out the jumps of first and second order derivatives of a biped robot control vector using the fuzzy logic approach. The structure of a composite Takagi-Sugeno fuzzy logic controller developed by the authors is presented. The simulation study of a robot gait with climbing an obstacle is carried out and the results provided in the article showed that the developed controller performed significantly better than the analytical formula model in terms of smoothing out the derivatives of the control vector.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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