Fuzzy Logic Velocity Control of a Biped Robot Locomotion and Simulation

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dc.contributor.authorAnkarali, Arif
dc.date.accessioned2024-02-23T14:44:43Z
dc.date.available2024-02-23T14:44:43Z
dc.date.issued2012
dc.departmentNEÜen_US
dc.description.abstractIn this paper, fuzzy logic velocity control of a biped robot to generate gait is studied. The system considered in this study has six degrees of freedom with hip, knee and ankle joints. The joint angular positions are determined utilizing the Cartesian coordinate information of the joints obtained by using camera captured data of the motion. The first derivatives of the calculated joint angular positions are applied as the reference angular velocity input to the fuzzy controllers of the joint servomotors to generate a gait motion. The assumed motion for the biped robot is horizontal walking on a flat surface. The actuated joints are hip, knee and ankle joints which are driven by DC servomotors. The calculated angular velocities of the joints from camera captured motion data are utilized to get the driving velocity functions of the model as sine functions. These functions are applied to the fuzzy controller as the reference angular velocity inputs. The control signals produced by the fuzzy controllers are applied to the servomotors and then the response of the servomotor block is introduced as an input to the SimMechanics model of the biped robot. The simulation results are provided which evaluate the effectiveness of the fuzzy logic controller on joint velocities to generate gait motion.en_US
dc.identifier.doi10.5772/52555
dc.identifier.issn1729-8806
dc.identifier.scopus2-s2.0-84868022344en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.urihttps://doi.org/10.5772/52555
dc.identifier.urihttps://hdl.handle.net/20.500.12452/17077
dc.identifier.volume9en_US
dc.identifier.wosWOS:000309963500001en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIntech -Open Access Publisheren_US
dc.relation.ispartofInternational Journal Of Advanced Robotic Systemsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectGait Modellingen_US
dc.subjectFuzzy Logic Controlen_US
dc.subjectTrajectory Trackingen_US
dc.subjectSimulationen_US
dc.subjectCamera Captured Motionen_US
dc.titleFuzzy Logic Velocity Control of a Biped Robot Locomotion and Simulationen_US
dc.typeArticleen_US

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