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

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

*Corresponding author for this work

Research output: Contribution to journalConference article

6 Scopus citations

Abstract

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.

Original languageEnglish
Pages (from-to)3266-3271
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume4
DOIs
StatePublished - 1 Dec 1998
EventProceedings of the 1998 IEEE International Conference on Systems, Man, and Cybernetics. Part 3 (of 5) - San Diego, CA, USA
Duration: 11 Oct 199814 Oct 1998

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