Walking Algorithm for Real-Time Stability of a Humanoid Robot Using Fuzzy Algorithm Under Uneven Terrain

퍼지 알고리즘을 이용한 불규칙한 지면에서 보행하는 휴머노이드 로봇의 실시간 보행 안정성 구현

Since a humanoid robot inherently suffers from instability and always risks tipping itself over, or topping to the ground, it is necessary to ensure high stability and reliability of walk. An unexpected ground condition is one of the principal factors of instability. This paper proposes a walk stabilization method consisting of a Fuzzy algorithm and geometry under uneven terrain. The ground reaction forces that are measured by the FSR sensors on the sole are used to check the ground condition and the robot posture. The effectiveness of proposed method is verified by computer simulations.