Intuitive and Fuzzy Control of an Under-Actuated Bipedal Robot without Reference Trajectories

摘要

In this paper, we propose an intuitive and fuzzy control method allowing us to regulate dynamic walking of an under-actuated robot (RABBIT) without reference trajectories. The interest of this method resides on the fact that on one hand the intrinsic dynamics of the system are exploited by using a succession of active and passive phases and on the other hand that the control strategy is very easy to implement on-line.