Modeling, path planning and control of a planar five-link bipedal robot by an adaptive fuzzy computed torque controller (AFCTC)

摘要

In this paper the equations of motion of a planar Five - link bipedal robot at a manageable level is extended in order to describe the robot movement on a flat horizontal surface in a single support phase. To design the joint angle profiles of the bipedal robot, locomotion constraints, kinematic relations between the links, and also mechanical energy minimization have been considered. Following the path planning in joint space, a new adaptive control method consisting of a traditional controller computed torque controller (CTC) and fuzzy controller is utilized, in order to track the trajectories. In this way, the dynamics of the biped robot is divided into two parts, linear and non-linear, which the former is controlled by CTC considering the error of tracking, and the latter by using fuzzy control is adjusted. (AFCTC).