Maintaining Trajectory of CoM for Stable Locomotion of Humanoid Robot Using Kalman Filter and Fuzzy Logic Controller

摘要

The ability of a humanoid robot, one of which is walking. However, a robot is often faced with a crucial stability problem when walking, for example of an uneven surface area. This paper presents a study on a humanoid robot walk on an inclined plane by forcing the trajectory of Center of Mass (CoM) to rest in a stability zone. To achieve this aim, the Kalman filter (KF) is used for state estimating and filtering error measurement influenced by the sensitiveness of the sensor. Then, the error of CoM trajectory measured by Inertial Measured Unit (IMU) serves as the input for Fuzzy Logic Controller (FLC) producing a control signal to correct the angle of some robot joints dynamically. This research, Bioloid Premium successfully to walk stably without falling in 7.5 degrees inclination area using KF and FLC.