Incremental Fuzzy Control for a Biped Robot Balance

E. Cuevas, D. Zaldívar (Germany, Mexico), and R. Rojas (Germany)


Bipedal robots, fuzzy control, artificial intelligence.


A efficient biped robot balance control is essential to achieve dynamic walk. In this work we propose a incremental fuzzy algorithm to control the lateral plane movements for a biped robot. This algorithm is computationally more economic as an adaptive control algorithm. This algorithm demonstrate a smooth balance control response and a correct interaction between the walking algorithm and the lateral plane control. The algorithm was implemented in a PIC16F873 microcontroller and successfully probed in the bipedal robot “Dany walker” designed at the Freie Universität Berlin.

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