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 properties 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.
|Number of pages||6|
|Journal||Proceedings of the IEEE International Conference on Systems, Man and Cybernetics|
|State||Published - 1 Dec 1998|
|Event||Proceedings of the 1998 IEEE International Conference on Systems, Man, and Cybernetics. Part 3 (of 5) - San Diego, CA, USA|
Duration: 11 Oct 1998 → 14 Oct 1998