Design of fuzzy walking pattern (FWP) for a shape memory alloy (SMA) biped robot

Shape memory alloy (SMA) is a device with lightweight and small volume. It is very ideal to use SMA as actuators for micro-robots. However, it is difficult to design a controller to handle the highly nonlinear properties of SMA. In this paper, a fuzzy walking pattern (FWP) is designed to control a small biped robot, using SMA as actuators. The FWP designed in this paper can not only generate the desired path for the biped robot, but also handle the exceptional case when the biped robot is subject to disturbance. Experimental results demonstrate the function of the FWP