Applying a Stable Dynamic walking mode of Humanoid Robot Based on Adaptive Fuzzy Control

摘要

This paper focused on the humanoid robot walking using the control method for the stable mobility during walking process. To be able to walk stably in various environments, the system constructed with a 32-bit microcontroller integrated circuits by STMicroelectronics (STM32) and servo controllers to control the mobility of foot, and the pressure senor under the foot for the gait analysis to track the actual dynamic center of gravity (COM) during walking process. To maintain the robot's walking stability, it is necessary to consider the ground conditions, and the requires torso motion and velocity of the joint actuators. By varying the foot motion parameters, the robot can produce different foot motion to adapt the environment conditions, but there is an error between expected and actual output. This paper proposes a method to correct errors on the actuator specifications using the adaptive fuzzy controller to maintain the robot's walking stability with the ground conditions and the foot motion parameters under the small requires torso motion and velocity of the joint actuators.