Fuzzy Controller Design for Multi-Legged Robot

Abstract:

Article Preview

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)

Edited by:

Wu Fan

Pages:

7345-7350

DOI:

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

Citation:

Z. Y. Tang et al., "Fuzzy Controller Design for Multi-Legged Robot", Advanced Materials Research, Vols. 383-390, pp. 7345-7350, 2012

Online since:

November 2011

Export:

Price:

$35.00

In order to see related information, you need to Login.

In order to see related information, you need to Login.