Motion control of an hexapod walking machine using fuzzy state automata

This paper describes the application of Fuzzy State Automata to the motion control of an hexapod walking machine. Fuzzy State Automata are used as reference generators for each leg of the robot managing each phase of the step; moreover, interaction between the automata allows intrinsic leg coordination without a higher level controller. The main advantage of using Fuzzy State Automata is that it is possible to plan complex trajectories and to avoid high accelerations using simple joint controllers.