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Autonomous Goal Following for a Quadruped Robot Using Fuzzy Proportional Derivative Control
Jose Eduardo Lopez-Ramos, Oscar Castillo and Patricia Melin
In this paper a fuzzy Proportional Derivative (PD) Controller was designed and implemented for dynamically adapting the velocity and motion parameters in a quadruped robot for autonomously following a goal. The FNK0050 Freenove quadruped robot was utilized for the experiments, which has 12 degrees of freedom and this is why it has higher complexity. Experimental results show that the proposed fuzzy PD controller surpasses the standard PID controller provided as default by the manufacturer of the robot.
Keywords: Fuzzy control, fuzzy PD, quadruped robot