Hostname: page-component-7dd5485656-dk7s8 Total loading time: 0 Render date: 2025-10-30T15:18:06.706Z Has data issue: false hasContentIssue false
  • English
  • Français

Design of a fuzzy walking pattern (FWP) for a shape memory alloy (SMA) biped robot

Published online by Cambridge University Press:  01 July 1999

Kuo-Yang Tu ,
Tsu-Tian Lee ,
Chi-Hsu Wang  and
Cu-An Chang
Kuo-Yang Tu
Affiliation:
Hwa-Sia College of Technology and Commerce, Dept. of Electronic Engineering, Taiwan (R.O.C.) 10772
Tsu-Tian Lee
Affiliation:
Dept. of Electrical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan (R.O.C.) 10772. E-mail: ttle@mouse.ee.ntust.edu.tw
Chi-Hsu Wang
Affiliation:
School of Microelectronic Engineering, Griffith University, Nathan, Brisbane, Queensland (Australia) Q4111
Cu-An Chang
Affiliation:
National I-Lan Institute of Agriculture and Technology, Dept. of Electrical Engineering, I-Lan, Taiwan (R.O.C.)
Get access Rights & Permissions [Opens in a new window]

Abstract

The Shape Memory Alloy (SMA) is a device which is lightweight and small in volume. The SMA can be used as the actuator of a micro-robot, but it is difficult to design a controller to handle the highly nonlinear properties of the SMA. In this paper, a Fuzzy Walking Pattern (FWP) is proposed to control a small biped robot, using an SMA as the actuator. In fact, the desired walking pattern of the small biped robot is used to construct the FWP. The proposed FWP can control the biped robot under the desired walking pattern, and handle the exceptional case when the biped robot is subject to disturbance. The proposed FWP not only solves the control problem of the SMA, but also provides a new method in controller design of the biped robot. In addition, a transputer network is designed to impelement the FWP. Experimental results demonstrate the functions of the FWP.

Keywords

Walking patternBiped robotShape memory alloyTransputer network

Information

Type
Research Article
Information
Robotica , Volume 17 , Issue 4 , July 1999 , pp. 373 - 382
Copyright
© 1999 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable