Hybrid fuzzy-sliding scheme for the balance control of a biped robot

  • Authors:

  • Fredy H. Martinez;Diego M. Acero;Mariela Castiblanco

  • Affiliations:

  • Distrital University "Francisco José de Caldas", Bogotá D.C, Colombia;National Pedagogical University, Bogotá D.C, Colombia;Distrital University "Francisco José de Caldas", Bogotá D.C, Colombia

  • Venue:
  • ICIC'10 Proceedings of the Advanced intelligent computing theories and applications, and 6th international conference on Intelligent computing
  • Year:
  • 2010

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Abstract

This paper presents the idea of hybrid fuzzy-sliding control, and shows its use as a robust strategy to maintain the balance in the joints of a biped robot, whose behavior has showed stability, robustness and a very short response time. The fuzzy control scheme is used to join two different laws for behavior, within a single continuous control scheme. The operation was simulated off-line and subsequently recorded in the ROM of a small microcontroller like an input/output map, to reduce computational cost and achieve very short response times. Experimental results on the laboratory prototype demonstrated high performance and simplicity of the control approach.