Fuzzy control of bipedal running with variable speed and apex height

摘要: In this paper we propose a fuzzy-based control scheme to generate stable planar biped running gaits with variable apex height and velocity. The considered robot model includes five links locked torso angles, point feet, four actuators at the hip knees. controller two separate levels: upper-level lower-level. lower-level part is composed of state machine, where trajectory sub-phases their switching time are controlled. an event-based fuzzy logic that called each flight phase. We use offline training process for designing rules before controlling robot. Fuzzy iterative computational repeated until convergence. Outputs fed into machine gaits. Simulation results show proposed strategy generates controllable velocity in step. Finally, effects efficiency investigated optimum calculated as function