Abstract
This paper describes a fuzzy control method for stabilizing the trot gait of quadruped robots, where it is asumed that force sensors are attached in each sole to meaure the leg-force distributions. For designing the fuzzy controller off-line, a radial basis function (RBF) neural network (NN) is constructed to identify the relation of joint angles and forces of two support legs. After regarding the RBFNN as an actual robot the design parameters of the fuzzy controller are tuned by genetic algorithm (GA), minimizing a fitness function composed of a square-root error of zero moment position (ZMP). The practical experiments prove that the fuzzy controller can play a role so that the consequent ZMP of the robot is assigned on a diagonal support line.
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