Optimal behaviour inspired fuzzy controller design for a three joint robot leg in protraction phase

Erden M., Leblebicioglu K.

IEEE 12th Signal Processing and Communications Applications Conference, Kusadasi, Turkey, 28 - 30 April 2004, pp.466-469 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/siu.2004.1338565
  • City: Kusadasi
  • Country: Turkey
  • Page Numbers: pp.466-469
  • Middle East Technical University Affiliated: Yes


A fuzzy controller design is performed for a three joint robot leg in protraction phase. The aim is to develop a controller to carry the tip point to any given destination. The design is based on the inspirations derived from optimal behaviors of the leg. The optimal trajectories are obtained by using optimization methods of "numeric gradient" and "optimal control" successively. Separate fuzzy controllers are designed for each actuator. In writing the rules each actuator is considered to be an independent agent of the leg system. The protraction motion is divided into two epochs. For each epoch different controller systems are designed to switch from one to the other in between. The crucial idea in this work is the "multi agent perspective" in designing separate fuzzy controllers for the separate joints. The results of the overall controller system are successful in carrying the tip point to any given destination, following a path resembling the optimal one.