Towards Adaptive Control Strategy for Biped Robots

Abstract

In this chapter, we have described a control strategy based on both proprioceptive and exteroceptive information for autonomous biped robots. The first presented results, carried out on the basis of computer based simulation techniques, are very promising and prove that the proposed approach is a good way to improve the control strategy of a biped robot. First, we show that, with only five reference gaits, it is possible to generate other gaits. The adjustment of the step length as a function of the average velocity is due to the gait pattern based on the Fuzzy CMAC structure. Moreover, with a fuzzy evaluation of the distance between the robots' feet and an obstacle, our control strategy allows to the biped robot to avoid an obstacle using step over strategy. However, it is important to remind that fuzzy rules are based on pragmatic approach and are constructed on the basis of some pre-defined membership functions shapes. For this reason, the presented control strategy may reach some limitation when biped robot comes