Energy efficient walking control for biped robots using interval type-2 fuzzy logic systems and optimized iteration algorithm

摘要

An energy efficient approach is proposed for the walking control of bipedal robots. To compensate the ZMP error caused by model uncertainties and external disturbances, we design a new walking controller in this paper. Different from currently available control schemes for cancelling ZMP error, our newly proposed one additionally incorporates a fuzzy logic systems(FLSs) mechanism and an iterative mechanism. By employing FLSs to deduce Center of Mass(CoM) correction according to ZMP error and designing iterative mechanism to compute the optimal joint position, the newly proposed controller exhibits an excellent performance. To tackle the control difficulties arising from physical constraints of actuators and hard-to-stabilization of biped robot, an optimized control algorithm is included in the iterative mechanism to guarantee the convergence to the optimal solution. Moreover, the interval type-2 FLSs are adopted to handle the uncertainties. Finally, the experiment results are provided to validate the proposed control scheme. (C) 2018 ISA. Published by Elsevier Ltd. All rights reserved.