Fuzzy Controller Design for Multi-Legged Robot

Zhi Yong Tang; Hai Xiao Zhong; Zhong Cai Pei; Yan Hao Bu

doi:10.4028/www.scientific.net/AMR.383-390.7345

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 383-390Fuzzy Controller Design for Multi-Legged Robot

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.

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Periodical:

Advanced Materials Research (Volumes 383-390)

Pages:

7345-7350

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.383-390.7345

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Online since:

November 2011

Authors:

Zhi Yong Tang, Hai Xiao Zhong, Zhong Cai Pei, Yan Hao Bu

Keywords:

ADAMS Simulation, Fuzzy PID-Control, Multi-Legged Robot, Simulink, System Modeling

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References

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