Design of Fuzzy Walking Pattern (FWP) for a Shape Memory Alloy (SMA) biped robot

被引：0

作者：

Tu, KY ^{[1
]}

Lee, TT ^{[1
]}

Wang, CH ^{[1
]}

Chang, CA ^{[1
]}

机构：

[1] Natl Taiwan Univ, Dept Elect Engn, Taipei 10772, Taiwan

来源：

1998 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5 | 1998年

关键词：

D O I：

暂无

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

Shape Memory Alloy (SMA) is a device with lightweight and small volume. it is very adequate to use SMA as the actuators of micro-robots. But it is difficult to design a controller to handle the highly nonlinear propel-ties of SMA. In this paper, a Fuzzy Walking Pattern (FWP) is designed to control a small biped robot, using SMA as actuators. The FWP designed in this paper can not Only generate the desired path for the biped robot, but also handle the exceptional case when the biped robot is subject to disturbance. Experimental results demonstrate the function of the FWP.

引用

页码：3266 / 3271

页数：6

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