Fuzzy Control System Design And Gait Implementation Of Biped Robot With Heterogeneous Legs

Biped robot is a kind of advanced intelligent robot that can walk like human being and have ability of doing repetitive works instead of human being. But for abnormal walking like that of amputees, it can't do well. During the research of the intelligent prosthesis (IP), plentiful, various and repeated walking test of amputees fixed with IP is necessary. But in view of the physical limitation of amputees, it is very difficult to do such experiments. Biped robot with heterogeneous legs (BRHL) is a novel robot mode, which is integration of the research of biped robot and IP from the points of improving humanoid walking characteristics, enhancing walking function and providing research test-bed for IP.Following the description of the significance, contents and background of BRHL study, this paper gives detailed introduction of the BRHL system configuration and then focuses on research of gait disposal, control algorithm and hardware implementation of gait.In order to make the BRHL work well, the gait disposal is necessary. This paper uses interpolation processing, differential processing and polynomial fitting. Gait data treated show good features and the joint library of the gait data is established.This paper studies on fuzzy adaptive PID and the traditional PID control algorithm, and analyses the simulation results of the two control algorithm in the MATLAB environment. And the paper focuses on research of the software of fuzzy adaptive PID, then the process flow chart is given.In the final, system's hardware components are illustrated and the system can realize coordination of multi-motor through the CAN bus network. And then the gait data and fuzzy adaptive PID control algorithm are used in BRHL walking control, and achieved a good control effect. The BRHL can walk in accordance with the continuous humanoid gait.