Hostname: page-component-77c89778f8-m8s7h Total loading time: 0 Render date: 2024-07-20T04:45:03.919Z Has data issue: false hasContentIssue false

Design of a fuzzy walking pattern (FWP) for a shape memory alloy (SMA) biped robot

Published online by Cambridge University Press:  01 July 1999

Kuo-Yang Tu
Hwa-Sia College of Technology and Commerce, Dept. of Electronic Engineering, Taiwan (R.O.C.) 10772
Tsu-Tian Lee
Dept. of Electrical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan (R.O.C.) 10772. E-mail:
Chi-Hsu Wang
School of Microelectronic Engineering, Griffith University, Nathan, Brisbane, Queensland (Australia) Q4111
Cu-An Chang
National I-Lan Institute of Agriculture and Technology, Dept. of Electrical Engineering, I-Lan, Taiwan (R.O.C.)


The Shape Memory Alloy (SMA) is a device which is lightweight and small in volume. The SMA can be used as the actuator of a micro-robot, but it is difficult to design a controller to handle the highly nonlinear properties of the SMA. In this paper, a Fuzzy Walking Pattern (FWP) is proposed to control a small biped robot, using an SMA as the actuator. In fact, the desired walking pattern of the small biped robot is used to construct the FWP. The proposed FWP can control the biped robot under the desired walking pattern, and handle the exceptional case when the biped robot is subject to disturbance. The proposed FWP not only solves the control problem of the SMA, but also provides a new method in controller design of the biped robot. In addition, a transputer network is designed to impelement the FWP. Experimental results demonstrate the functions of the FWP.

Research Article
© 1999 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)