Fuzzy control of quadrupedal running

In this paper, a new fuzzy systems approach to the control of quadrupedal running is presented. The fuzzy controller is capable of learning the necessary leg touchdown angles and leg thrusts required to track the desired running height and velocity of a bounding quadruped in only one stride. This is accomplished through an adaptation mechanism which is based on heuristics similar to those used by Raibert (1986) to design his controllers. The performance of the fuzzy controller is compared to that of a modified Raibert controller and shows better tracking characteristics. The fuzzy controller's ability to respond to significant modeling errors in the quadruped is demonstrated with an example.

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