Development of a Hexapod Robot Controlling by Fuzzy Logic Controller

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Research areas:
Year:
2013
Type of Publication:
Article
Keywords:
Hexapod Robot, VHSIC Hardware Description Language, Fuzzy Logic Controller, Automatic Control
Authors:
S. Pullteap
Journal:
IJAIM
Volume:
1
Number:
6
Pages:
141-146
Month:
May
ISSN:
2320-5121
Abstract:
This paper presents a concept of using the fuzzy logic condition cooperated with VHSIC hardware description language programming (VHDL) for controlling a hexapod robot to walk in desired conditions (unobstructed and obstructed areas). The designed robot, generally, consists of two main parts: hardware and software system respectively. The robot’s body, controlling board, sensors and actuators were installed for the first part, while a developed program, consequently, was operated in the later part for the robot’s movement. The fuzzy logic controller wasutilized for controlling a hexapod robot by considering the number of input signals from the three infrared sensors at the robot’s face. Moreover, the inverse kinematics and also the movement equations were applied for controlling the robot walking (forward, backward, turning left and right etc). By demonstrating the robot operation in both unobstructed and obstructed areas, the experimental results show that the robot can, perfectly, walk to the desired destinations with an average error of 1.84% and also held an ability to avoid the obstacles automatically.
Full text: IJAIM_119_Final.pdf

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