Adaptive walking control of biped robot based on Fuzzy-CPG

被引：0
|
作者：
Zhang X. [1 ]
Liu C.-J. [1 ]
Chen Q.-J. [1 ]
机构：
[1] College of Electronics and Information Engineering, Tongji University, Shanghai
来源：
Liu, Cheng-Ju (liuchengju@tongji.edu.cn) | 1600年 / South China University of Technology卷 / 37期
基金：
中国国家自然科学基金;
关键词：
Adaptive walking; Biped robot; Central pattern generator (CPG); Fuzzy control;
D O I：
10.7641/CTA.2020.00076
中图分类号：
学科分类号：
摘要：
To improve the walking adaptive ability of biped robot, a hybrid control strategy (Fuzzy-CPG) based on fuzzy control and central pattern generator (CPG) is proposed. The environmental feedback information is mapped into expected walking gait information of the robot and amplitude parameters of the CPG model through the high-level control center, series fuzzy control system. According to the output command of the high-level control center, rhythmic output signals controling the joint motion of the robot are generated by the low-level control center CPG. The robot detects the environment feedback information and feeds it back to the high-level control center, where further motion commands are generated to start a new cycle. In simulation environments with variable slope angles and unevenness, the hybrid control strategy is verified. The results show that the proposed hybrid control strategy (Fuzzy-CPG) can generate corresponding walking gaits according to the change of environment and improve the adaptive walking ability of biped robot. © 2020, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：2525 / 2534
页数：9
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