Farshad Samadi, Sohrab Khanmohammadi, and Amir R. Ghiasi
The gravity compensated inverted pendulum mode (GCIPM), fuzzy controller, humanoid robot, zero moment point (ZMP), unevensurface
This paper proposes a new procedure for humanoid robots walking on an irregular uneven surface. Posture stabilization is necessary for humanoid robot during its walking. In this paper, a stabilization algorithm using a fuzzy controller is proposed which is applied to robot’s ankle. This controller uses the ground reaction forces, measured by the sensors installed in robot’s sole. Using the proposed fuzzy controller, the humanoid robot can adapt its foot with the ground. According to the contact points of the sole with the ground, the zero moment point might (ZMP) be changed from its pre-designed location. The proposed fuzzy controller in the robot’s ankle fixes the ZMP in pre-designed location to stabilize the robot’s posture. The gravity-compensated inverted pendulum mode is used to generate the hip trajectory. Simulation results show that using the proposed fuzzy controller, the robot’s hip will have a regular and smooth trajectory.
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