Control of running quadruped robots using fuzzy logic

Abstract

This paper proposes an algorithm which realizes stable running motion of quadruped robots using fuzzy logic. Balancing the body is important in stable running. Since the body balance is determined by the forces applied at the feet on the ground as well as the motion of the body, the ground reaction force is controlled actively. For this, the desired ground reaction force is generated based on the peak of the body position in running. Force errors are used to modify the foot trajectory. To supply necessary angular momentum as well as linear momentum in the flight, the ground reaction force is appropriately distributed to the front/rear and left/right legs using fuzzy logic. To verify the effectiveness of the proposed algorithm, computer simulations of a quadruped runningare carried out with commercial software. Simulation results confirm the success of the proposed method in controlling gallop of the quadruped.