Title :
Hexapod Robot Locomotion using a Fuzzy Controller
Author :
Sakr, Ziad ; Pet, Emil M.
Author_Institution :
Sch. of Inf. & Commun. Technol., Univ. of Trinidad & Tobago, Wallerfield
Abstract :
Fuzzy logic has features that are of particular interest in the area of mobile robotics that allow a system to operate smoothly in light of some uncertainty and imprecision. This paper presents a fuzzy logic controller for a hexapod robot that is able to move freely on an uneven surface environment without tipping over. The robot has the feel of the surface it´s on through touch sensors located at the bottom of each of the six legs.
Keywords :
fuzzy control; mobile robots; fuzzy controller; hexapod robot locomotion; mobile robotics; Fuzzy control; Fuzzy logic; Insects; Leg; Legged locomotion; Mobile robots; Robot control; Robot sensing systems; Servomechanisms; Stability; Fuzzy Controller; Hexapod; Mobile robot;
Conference_Titel :
Robotic and Sensors Environments, 2007. ROSE 2007. International Workshop on
Conference_Location :
Ottawa, Ont.
Print_ISBN :
978-1-4244-1526-7
Electronic_ISBN :
978-1-4244-1527-4
DOI :
10.1109/ROSE.2007.4373969
