Design of adaptive fuzzy magnetic suspension vibrator for foot robot

An adaptive fuzzy magnetic suspension vibrator is designed and embedded into foot robot to promote its shock absorbing ability. Magnetic levitation system (MLS), using the electromagnetic force to float, rotate or move suspended object, is a non-contact operation mode. This mode can effectively reduce the mechanical vibrations, friction and wearing loss caused by contact operation. Furthermore, it can also prolong the equipment´s life, reduce maintenance frequency and noise. However, the MLSs possess the characteristics of nonlinear and dynamic properties, so an adaptive fuzzy sliding-mode controller (AFSMC) for magnetic suspension vibrator is proposed in this study. With the help of magnetic suspension vibrator, the foot robot can steer in a bumpy road and provide more comfortable riding environment.