Abstract

GORROSTIETA, Efrén  and  VARGAS SOTO, Emilio. Fuzzy Algorithm of Free Locomotion for a Six Legged Walking Robot. Comp. y Sist. [online]. 2008, vol.11, n.3, pp.260-287. ISSN 2007-9737.

In this paper a set of algorithms that allows a six-legged walking robot perform its displacement by means of a non-established and non-periodic tasks is presented. The development of these algorithms uses fuzzy logic techniques in order to take decisions. To evaluate the algorithms, a robot locomotion process simulation is performed. Also, a neural network control is used to adequately direct the execution of the robot's locomotion.

Keywords : Walking Robot; free locomotion; working space; stability margin; fuzzy logic; adaptive algorithm; predictive algorithm.

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