Adaptive fuzzy-PD controller for 3D walking of biped robots

Abstract

This paper proposes a control method for walking of biped robots in three dimensions, while most papers consider only walking in the sagittal plane and consider the frontal stabilization issues. The proposed method employs an adaptive fuzzy-PD control scheme to show the validity of the proposed model. Simulating results show good performance of the model and the control method as compared with recently proposed method in literature.