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

Author

Tu, Kuo-Yang ; Lee, Tsu-Tian ; Chi-Hsu Wang ; Chang, Cu-An

Author_Institution

Dept. of Electr. Eng., Nat. Taiwan Univ. of Technol. & Sci., Taipei, Taiwan

Volume

4

fYear

1998

fDate

11-14 Oct 1998

Firstpage

3266

Abstract

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

Keywords

actuators; fuzzy control; fuzzy set theory; legged locomotion; motion control; robot kinematics; shape memory effects; actuators; biped robot; fuzzy control; fuzzy set theory; fuzzy walking pattern; kinematics; locomotion control; micro-robots; shape memory alloy; Actuators; Capacitive sensors; Cooling; Fuzzy control; Heat sinks; Infrared heating; Legged locomotion; Robots; Shape memory alloys; Temperature sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1998. 1998 IEEE International Conference on

Conference_Location

San Diego, CA

ISSN

1062-922X

Print_ISBN

0-7803-4778-1

Type

conf

DOI

10.1109/ICSMC.1998.726507

Filename

726507