Fuzzy Control Strategy for a Hexapod Robot Walking on an Incline

被引：13

作者：

Wang, Wen-June ^{[1
]}

Chou, Hao-Gong ^{[1
]}

Chen, Ying-Jen ^{[2
]}

Lu, Ruei-Chang ^{[3
]}

机构：

[1] Natl Cent Univ, Dept Elect Engn, Jhongli 32001, Taiwan

[2] Natl Taipei Univ, Dept Elect Engn, Taipei 23741, Taiwan

[3] Natl Ilan Univ, Dept Elect Engn, Yilan 26047, Taiwan

来源：

INTERNATIONAL JOURNAL OF FUZZY SYSTEMS | 2017年 / 19卷 / 06期

关键词：

Hexapod robot; Center of gravity; Statically stable walking; Denavit-Hartenberg (D-H) convention; Fuzzy control; FAULT-TOLERANT GAIT; LOCOMOTION; STABILITY;

D O I：

10.1007/s40815-017-0319-9

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the fuzzy control strategy for a hexapod robot walking on an incline is proposed. In order to maintain the vertical projection of the center of gravity (COG) remaining in the support pattern, the robot's posture is adjusted by a fuzzy controller depending on the slope of incline. At first, Denavit-Hartenberg convention is applied to calculate the positions of motors and end points of legs. When the robot is walking on an incline, a rotation matrix, which can be acquired by an inertial measurement unit settled on the center of robot's body, is required to obtain the vertical projection of COG. Then, the fuzzy controller is designed to adjust the angles of motors for supporting legs such that the vertical projection of COG approaches the COG of support polygon. Finally, several experiments are implemented by a hexapod robot to demonstrate the effectiveness of the proposed fuzzy control strategy.

引用

页码：1703 / 1717

页数：15

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