Implementation of a Hierarchical fuzzy controller for a biped robot

Abdallah Zaidi; Nizar Rokbani; AdelM. Alimi

Implementation of a Hierarchical fuzzy controller for a biped robot

Robotics 2014-12-31 v1

Authors: Abdallah Zaidi , Nizar Rokbani , AdelM. Alimi

Abstract

In this paper the design of a control system for a biped robot is described. Control is specified for a walk cycle of the robot. The implementation of the control system was done on Matlab Simulink. In this paper a hierarchical fuzzy logic controller (HFLC) is proposed to control a planar biped walk. The HFLC design is bio-inspired from human locomotion system. The proposed method is applied to control five links planar biped into free area and without obstacles.

Keywords

fuzzy control robot locomotion

Cite

@article{arxiv.1412.8500,
  title  = {Implementation of a Hierarchical fuzzy controller for a biped robot},
  author = {Abdallah Zaidi and Nizar Rokbani and AdelM. Alimi},
  journal= {arXiv preprint arXiv:1412.8500},
  year   = {2014}
}

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