Fuzzy walking and turning tap movement for humanoid soccer robot EFuRIO

Fast and flexible walking is necessary for hu-manoid robots in the Robocup soccer competition. Instability is one of the major defects in humanoid robots. Recently, various methods on the stability and reliability of humanoid robots have been actively studied. We propose a new fuzzy-logic control scheme that would enable the robot to realize flexible walking or turning with high standard of stability by restricting the step length and inclining the body of robot to an appropriate extent. In this paper, a stabilization algorithm is proposed using the balance condition of the robot, which is measured using accelerometer sensors during standing, walking, and turning movement are estimated from these data. From this information the robot selects the proper motion pattern effectively. In order to generate the proper reaction under various the body of robot situations, a fuzzy algorithm is applied in finding the proper angle of the joint. The performance of the proposed algorithm is verified by walking, turning tap and ball kicking movement experiments on a 18-DOFs humanoid robot, called EFuRIO.