Control of a Bipedal Walking Robot Using a Fuzzy Precompensator

摘要

The Computed Torque Control (CTC) is an effective motion control strategy for a biped walking robot, which can ensure globally asymptotic stability. However, CTC scheme requires precise dynamical models of biped robot. To handle this impossibility, we proposed an approach combing CTC and fuzzy logic controller to regulate the dynamic walking of a planar 7 degrees-of-freedom under-actuated biped robot to follow a specified trajectory. A computed torque is used to achieve high speed and high precision tracking while the fuzzy controller behaves remedies for any parameter deviation compensating thus for unknown uncertainties and disturbances. Finally, computer simulation are carried on and results are presented to show tracking capability and effectiveness of the proposed scheme.