Fuzzy Control Strategy for a Hexapod Robot Walking on an Incline

Wen June Wang, Hao Gong Chou, Ying Jen Chen, Ruei Chang Lu

Research output: Contribution to journalArticlepeer-review

14 Scopus citations


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.

Original languageEnglish
Pages (from-to)1703-1717
Number of pages15
JournalInternational Journal of Fuzzy Systems
Issue number6
StatePublished - 1 Dec 2017


  • Center of gravity
  • Denavit–Hartenberg (D–H) convention
  • Fuzzy control
  • Hexapod robot
  • Statically stable walking


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