International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Study on the Real-Time Walking Control of a Humanoid Robot U sing Fuzzy Algorithm

  • Kong, Jung-Shik (Department of Micro robot, Daeduck College) ;
  • Lee, Eung-Hyuk (Department of Electronic Engineering, Korea Polytechnic Univ.) ;
  • Lee, Bo-Hee (Department of Electrical Engineering, Semyung Univ.) ;
  • Kim, Jin-Geol (School of Electronic and Electrical Engineering, Inha Univ.)
  • Published : 2008.08.31
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Abstract

This paper deals with the real-time stable walking for a humanoid robot, ISHURO-II, on uneven terrain. A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper reaction under the various ground situations, a fuzzy algorithm is applied in finding the proper angle of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs humanoid robot, ISHURO-II.

Keywords

References

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