Hexapod Robot Locomotion using a Fuzzy Controller

Abstract

Fuzzy logic has features that are of particular interest in the area of mobile robotics that allow a system to operate smoothly in light of some uncertainty and imprecision. This paper presents a fuzzy logic controller for a hexapod robot that is able to move freely on an uneven surface environment without tipping over. The robot has the feel of the surface it's on through touch sensors located at the bottom of each of the six legs.