Optimal behaviour inspired fuzzy controller design for a three joint robot leg in protraction phase

A fuzzy controller design is performed for a three joint robot leg in the protraction phase. The aim is to develop a controller to carry the tip point to any given destination. The design is based on inspiration derived from the optimal behavior of the leg. The optimal trajectories are obtained by using optimization methods of "numeric gradient" and "optimal control" successively. Separate fuzzy controllers are designed for each actuator. When the rules are written, each actuator is considered to be an independent agent of the leg system. The protraction motion is divided into two epochs. For each epoch, different controller systems are designed and we switch from one to the other in between. The crucial idea is the "multi agent perspective" in designing separate fuzzy controllers for the separate joints. The results of the overall controller system are successful in carrying the tip point to any given destination, following a path resembling the optimal one.