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Mohammadi Zand, Ramtin | 2012

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 43395 (05)
University: Sharif University of Technology
Department: Electrical Engineering
Advisor(s): Bagheri Shouraki, Saeed
Abstract:
Controlling four legged robots is a complex challenge. The previous works in this field can be divided into two main categories, Analytic method and intelligence method. The analytic method is based on extracting the motion equations of the robot, but in most cases these equations are so complicated, and their implementation is difficult. Another method is intelligence method, which is based on learning algorithms. Despite the improvements in walking robots field, still their walking quality is far from human and animal walking. Researchers believe that this advantage is the result of the learning ability in animals and human. Therefore in this paper the human learning ability is used to design a control system for a four legged robot. First a human tried to control a four legged robot using the computer’s keyboard. Recognizing that the operator became enabled to control the robot successfully, we extracted his information as fuzzy rules. These rules were applied to robot and it could walk autonomously and this control was robust.
Keywords:
Fuzzy Logic ; Fuzzy Control ; Expertise Extraction ; Quadruped Robot ; Robot Motor

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