Design by applying fuzzy control technology to achieve biped robots with fast and stable footstep

Abstract

Robots can adapt strides according to ground conditions and walk stably in different environments. This study uses fuzzy logic control and Linear Quadratic Regulator (LQR) control theory on biped robot system to achieve the development of balanced and fast footsteps. Traditional controllers are designed according to mathematical models of physical systems, while fuzzy controller is a physical system that uses inexact mathematical model involving sets and membership functions. Fuzzy controller includes theories in fuzzification, fuzzy control rules, and defuzzification.