FUZZY-LOGIC CONTROL OF A PLANETARY GEAR TYPE WALKING MACHINE LEG

In this paper, the development of a fuzzy logic control algorithm for walking machine leg control is presented. The planetary gear leg is de signed for a quadruped which can walk and trot under the following des ign criteria: high efficiency, compact size and high payload/weight ra tio. The inverse kinematics and dynamics of this leg are first analyse d. A fuzzy logic control algorithm is then developed and implemented t o control this prototype leg. The controller controls the leg using po sition control when the foot is in the air and force control when the foot is on the ground. This fuzzy logic control algorithm is evaluated in both simulation and experiments. A comparison of the proposed cont rol algorithm with the conventional impedance control is given. Result s show that the fuzzy logic controller is effective in controlling the leg machine.