Quadruped Robot Control Base on Adaptive Neuro-Fuzzy Inference System With V-REP Simulator

摘要

This study aims to design a Quadruped robot control on a new medium-sized Quadruped robot design called Kancil, which has 4 arms with 2 freedoms (4 x 2-DOF) with an overall weight of 5kg. ANFIS here is used as a balance regulator for the movement of the robot legs and CPG-VDP as a periodic drive system. The MIMO ANFIS structure is designed with two inputs and four outputs which are used to control the shoulder movements of the Quadruped robot, to maintain body balance so as not to fall. Input data for the gyro sensor tilt is -45 degrees to 45 degrees, studied in the ANFIS machine. The ANFIS output is then simulated using the V-REP simulator software, by converting the output data into a leg path so that it can be simulated. From the test results, the robot can pass through obstacles while walking down 30 degrees and 45 degrees in a balanced state and not falling.