Fuzzy Control Strategy for a Hexapod Robot Walking on an Incline

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

研究成果: 雜誌貢獻期刊論文同行評審

11 引文 斯高帕斯(Scopus)

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.

原文???core.languages.en_GB???
頁(從 - 到)1703-1717
頁數15
期刊International Journal of Fuzzy Systems
19
發行號6
DOIs
出版狀態已出版 - 1 12月 2017

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