Control of Eight-Leg Walking Robot Using Fuzzy Technique Based on SimScape Multibody Toolbox

Abstract

In this article, a simulation platform is used to design and test the proposed controller and to study the performance of the eight legs walking robot based on SimScape Multibody toolbox. We show that, by using the SimScape Multibody toolbox, the intelligent controller can be designed without needing for the mathematical model of the legged robot. This toolbox is used to simulate and visualize the motion of the legged robot with the proposed controller. The fuzzy technique is used for designing a control system for the walking robot. The particle swarm optimization (PSO) algorithm is used to obtain the optimal parameters of output membership function of the proposed fuzzy controller. The effectiveness and robustness of the designed controller are studied by changing the carried load by the walking robot. The obtained results demonstrate efficiently the validity of the proposed controller for guiding the walking robot when the disturbance is applied.