Gait control of humanoid robots via fuzzy logic and iterative optimization

A kind of gait control method via fuzzy logic and iterative optimization is proposed for solving the fatal problem of high energy consumption in practical application of biped robots. A strategy of energy consumption estimation (ECE) and an algorithm of energy-efficiency optimization are proposed based on three important indexes of energy consumption for biped locomotion. Firstly, trajectory of the trunk is tuned according to ZMP-based fuzzy rules when leg motions deviate from walking reference trajectory, which ensure the ZMP falling into the stability domain. Secondly, a strategy of ECE for biped walking robots is proposed, and the energy consumption of the trunk is estimated. Finally, an iterative optimization algorithm based on ECE is proposed to optimize the estimated trajectory of the trunk which has been derived from fuzzy ZMP tuning model qualitatively. The proposed method is applied to a robotic system. Simulations and experimental results show the validity of the method.