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An FCM-based Design for Balancing of Legged Robots

Author(s): Omid Motlagh

Journal: Journal of Artificial Intelligence
ISSN 1994-5450

Volume: 4;
Issue: 4;
Start page: 295;
Date: 2011;
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Keywords: balancing control | legged robots | Fuzzy inference

Robot balancing is a challenging task when it comes to legged platforms, e.g., hexapods and quadrupeds. Fuzzy cognitive map (FCM) is well established as a decision making mechanism with many applications. This study presents the very first application of FCM-based inference for autonomous balancing in standard legged robots with 3-revolute joints, i.e., three degrees of freedom (DoF) per limb. FCM has been utilized for balancing control and placement of feet instead of solving complex Jacobians.
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