Paper Title:
Fuzzy Controller Design for Multi-Legged Robot
  Abstract

In this paper, we propose a mechanical structure for multi-legged robot. Referring the request of control system, we also made a proper choice on driving means. After dynamics analysis on a single leg of the robot, we make a simulation using ADAMS and get how the torque of each joint is changing when the robot is walking. The model of DC motor is established for the control system. Fuzzy PID controller was used to get real-time response and high accuracy of control system.

  Info
Periodical
Advanced Materials Research (Volumes 383-390)
Chapter
Chapter 30: Automation, Mechatronics and Robotics
Edited by
Wu Fan
Pages
7345-7350
DOI
10.4028/www.scientific.net/AMR.383-390.7345
Citation
Z. Y. Tang, H. X. Zhong, Z. C. Pei, Y. H. Bu, "Fuzzy Controller Design for Multi-Legged Robot", Advanced Materials Research, Vols. 383-390, pp. 7345-7350, 2012
Online since
November 2011
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Price
$32.00
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