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Fuzzy logic control of a planetary gear type walking machine leg

Published online by Cambridge University Press:  01 September 1997

Chau-Ren Tsai ,
Tsu-Tian Lee  and
Shin-Min Song
Chau-Ren Tsai
Affiliation:
Department of Electrical Engineering, National Taiwan Institute of Technology, 43, Leelung Road, Section 4, Taipei, Taiwan R.O.C.
Tsu-Tian Lee
Affiliation:
Department of Electrical Engineering, National Taiwan Institute of Technology, 43, Leelung Road, Section 4, Taipei, Taiwan R.O.C.
Shin-Min Song
Affiliation:
Department of Mechanical Engineering, University of Illinois at Chicago, P.O. Box 4348, Chicago, IL 60680 U.S.A.
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Abstract

In this paper, the development of a fuzzy logic control algorithm for walking machine leg control is presented. The planetary gear leg is designed for a quadruped which can walk and trot under the following design criteria: high efficiency, compact size and high payload/weight ratio. The inverse kinematics and dynamics of this leg are first analysed. A fuzzy logic control algorithm is then developed and implemented to control this prototype leg. The controller controls the leg using position control when the foot is in the air and force control when the foot is on the ground. This fuzzy logic control algorithm is evaluated in both simulation and experiments. A comparison of the proposed control algorithm with the conventional impedance control is given. Results show that the fuzzy logic controller is effective in controlling the leg machine.

Keywords

Fuzzy logicControlWalking machine
Type
Research Article
Information
Robotica , Volume 15 , Issue 5 , September 1997 , pp. 533 - 546
Copyright
© 1997 Cambridge University Press

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