Implementation of a Hierarchical fuzzy controller for a biped robot

TL;DR

This paper presents a bio-inspired hierarchical fuzzy logic controller designed for a planar biped robot's walk cycle, implemented in Matlab Simulink, demonstrating effective control in obstacle-free environments.

Contribution

It introduces a novel hierarchical fuzzy controller for biped locomotion, inspired by human movement, and applies it to a five-link planar robot in simulation.

Findings

Successful control of biped walk cycle in simulation

Hierarchical fuzzy controller effectively manages robot stability

Bio-inspired design enhances natural gait simulation

Abstract

In this paper the design of a control system for a biped robot is described. Control is specified for a walk cycle of the robot. The implementation of the control system was done on Matlab Simulink. In this paper a hierarchical fuzzy logic controller (HFLC) is proposed to control a planar biped walk. The HFLC design is bio-inspired from human locomotion system. The proposed method is applied to control five links planar biped into free area and without obstacles.