A Study of Fuzzy-Neural Force Control for a Quadrupedal Walking Machine

[+] Author and Article Information
Chau-Ren Tsai, Tsu-Tian Lee

Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan

J. Dyn. Sys., Meas., Control 120(1), 124-133 (Mar 01, 1998) (10 pages) doi:10.1115/1.2801308 History: Received January 13, 1997; Online December 03, 2007


In this paper, the inverse kinematics and the foot force distributions of a planetary gear type quadrupedal walking machine are analyzed. This walking machine has four legs and each leg has three-degrees-of-freedom. The whole system has a total of seventeen links. The planetary gear leg is designed for a quadruped which can walk and trot under the following design criteria: high efficiency, compact size, and high payload/weight ratio. A neural network structure fuzzy logic controller is applied to control the foot force distribution of the quadruped walking machine. The performance of this fuzzy logic control algorithm is evaluated. Experimental results show that the fuzzy logic controller is effective in controlling this walking machine.

Copyright © 1998 by The American Society of Mechanical Engineers
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