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

Kuo Yang Tu, Tsu Tian Lee, Chi-Hsu Wang, Cu An Chang

Research output: Contribution to journalArticlepeer-review

17 Scopus citations


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 implement the FWP. Experimental results demonstrate the functions of the FWP.

Original languageEnglish
Pages (from-to)373-382
Number of pages10
Issue number4
StatePublished - 1 Jan 1999

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