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Adaptive Fuzzy Computed Torque Controller for Under Actuated Bipedal Robot

[+] Author Affiliations
Hamzeh Ansari, Ahmad Ghanbari

University of Tabriz, Tabriz, Iran

Mohammad Pourgol Mohammad

Sahand University of Technology, Tabriz, Iran

Paper No. IMECE2014-39773, pp. V04BT04A033; 6 pages
  • ASME 2014 International Mechanical Engineering Congress and Exposition
  • Volume 4B: Dynamics, Vibration, and Control
  • Montreal, Quebec, Canada, November 14–20, 2014
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4648-3
  • Copyright © 2014 by ASME


The primary goal of this paper is to develop and test a new controller for an under-actuated bipedal robot. This controller handles adequately some limitations existing in other similar robot controllers. Fuzzy controller is used in this research in order to tuning the gain of controller adaptively. Tuning parameters lead to robust character and high performance for uncertain movements during the walking. Using adaptive fuzzy computed torque controller, it provide conditions through which i) adaptive fuzzy part adjusts parameters of the system and ii) computed torque part provide a nonlinear control simultaneously. Use of these two advantages lead to reduce uncertainty effects during walking. Finally the Matlab software is developed to evaluate the effectiveness for stability of proposed controller.

Copyright © 2014 by ASME



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