Stable walking of quadruped robots using fuzzy back-stepping approach

In this paper, adaptive fuzzy back-stepping controller for the tracking control of a nine-degree of freedom quadruped robot has been investigated. First, the back-stepping controller has been designed and its inherent stability has been studied using the Lyapunov theory. Due to the unknown control coefficient in the back-stepping method, a fuzzy system has been employed to change these coefficients adaptively. The proposed method has been applied to the quadruped robot and path-tracking problem has been studied. The simulation results show good performance of the proposed controller as compared to the recently proposed methods in literature.