Design of fuzzy algorithms locomotion for six legged walking robot

Abstract

One of the most relevant topics in the design of legged robots is to perform movements. The aim of this article is to present a set of algorithms that allow a six-legged walking robot to achieve the mobility of its different legs among irregular or no established actions, this gait is known as: free locomotion. The development of these algorithms using fuzzy logic allows the system to have a redundant behavior. The algorithms evaluation is performed by simulating the locomotion process of the robot. Key words: Walking robot, free locomotion, margin stability, fuzzy logic, adaptive algorithm, predictive algorithm.