The Self-regulating Fuzzy Nonlinear Control of Roll DOF of Ankle Joint of Humanoid Robot

This paper presents a 2-dimension fuzzy controller with the inputs of joints position-tracking errors and joints transmission radio mutations,and the output of control voltages of DC brushless motors. Compared with the former PID-feedforward controller,this fuzzy controller effectively improves the servo performance,which is ever greatly influenced by the nonlinear transmission,especially almost eliminating the lags in joints position-tracking. Both in air and on ground,the robustness of the prototype system is enhanced.