2014/12/29 by Abdallah Zaidi, Nizar Rokbani, Zaidi, Abdallah +4
Computer Science · Engineering · #FOS: Computer and information sciences #Robotic Locomotion and Control #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Automated Systems #cs.RO
paper · pdf · doi:10.48550/arxiv.1412.8500
arxiv created 2014/12/29 · openalex publication_date 2014/12/29 · arxiv updated 2014/12/31 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper the design of a control system for a biped robot is described. Control is specified for a walk cycle of the robot. The implementation of the control system was done on Matlab Simulink. In this paper a hierarchical fuzzy logic controller (HFLC) is proposed to control a planar biped walk. The HFLC design is bio-inspired from human locomotion system. The proposed method is applied to control five links planar biped into free area and without obstacles.