Fuzzy-pid control design of biped robot based on motion capture technology

Abstract

Abstract To improve the precision of the biped robot’s walking control system, a fuzzy PID controller with a variable theory domain was added to the design of the biped robot’s lower limb control system to optimize the tracking process of joint angular displacement and improve the motion effect. Firstly, the motion capture experiment is carried out to obtain the angular displacement data of the joint. The theoretical angle was calculated according to the biped robot’s lower limb diagram model and kinematics equation, and the expected trajectory was obtained by simple gait planning and using MATLAB to verify the validity of the angle parameters. Then the fuzzy PID controller of the lower limb joint was established, and the variable theory domain fuzzy controller was established by introducing the expansion factor. Finally, the Simulink test bench is built to simulate the two controllers, and the expected data and simulation data are compared. The results show that the error range of the variable theory domain fuzzy controller is only ±2°, and the variable theory domain adaptive fuzzy controller can accurately track the desired trajectory, reduce the joint angular displacement error of the biped robot, ensure the precision and stability of the biped robot motion, and basically meet the requirements of practical production.