Implementation of a Hierarchical fuzzy controller for a biped robot
This addresses the challenge of stable locomotion for biped robots, but appears incremental as it applies a known fuzzy control approach to a specific robot configuration.
The paper tackled the problem of controlling a biped robot's walk cycle by proposing a hierarchical fuzzy logic controller (HFLC) inspired by human locomotion, and implemented it in Matlab Simulink to control a five-link planar biped in a free, obstacle-free area.
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.