Stability Control for Bipedal Robot in Standing and Walking using Fuzzy Logic Controller

摘要

This paper describes a control method for the stable standing and walking of a bipedal robot based on Inertia Measurement Unit (IMU) sensor feedback. The IMU sensor was used to measure body's tilt posture of the robot on uneven terrain conditions. In this paper, indication of bipedal walking stability was determined based on the tilt posture of robot body. Fuzzy logic controller (FLC) was further designed to evaluate tilt posture of robot body to generate appropriate offset angles to be applied on the corresponding joints of the robot. The performances of the proposed methods were verified by walking experiments on a 18-DOFs biped robot, El-Pistolero. From the experimental results, it can be concluded that the proposed FLC is capable of maintaining the balance of the robot in standing and walking condition, but sometimes the sole was slipped so robot can not walk straight.