An Application of fuzzy state automata: Motion control of an hexapod walking machine

Abstract

This paper describes an application of Fuzzy State Automata to the motion control of an hexapod walking machine. Fuzzy State Automata are used as reference generators for each leg of the robot managing each phase of the step; moreover interaction between the automata allows leg coordination without a higher level controller. This example shows some interesting points of Fuzzy State Automata like parameter tuning, emptying abandoned states and coordination between automata. © Springer-Verlag Berlin Heidelberg 2001.