Intelligent Control Method Design of Foot Robot Walking on Water
WEI Xianming1,2, XU Linsen2, CAO Kai3, LUO Minzhou2
1. University of Science and Technology of China, Hefei 230026, China;
2. Institute of Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China;
3. Changzhou University, Changzhou 213164, China
A kind of foot robot walking on water is designed according to bionic object basilisk lizards. Because of the complexity of the water environment, the computer simulation method is used for building the entire system of foot robot walking on water and external environment. In view that existing ZMP (zero moment point) algorithms aren't suitable for controlling foot robot walking on water, a CPG (central pattern generator) fuzzy control method is proposed. Parametric analysis, complete control system construction and computer simulation are finished based on the designed CPG controller and fuzzy controller for foot robot walking on water. Finally, the outdoor experiment of the robot walking on water is accomplished, and the real-time declination is determined. Results show that the proposed control method is effective.
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