Using soft computing techniques for improving foot trajectories in walking machines

Walking machines have been investigated during the last 40 years and some basic techniques of this field are already well known. However, some aspects still need to be optimized. For instance, speed seems to be one of the major shortcomings of legged robots; thus, improving leg speed has been chosen as the main aim of this work. Although some algorithms for optimizing trajectory control of robot manipulators already exist, we propose a more computationally efficient method that employs fuzzy set theory to involve real dynamic effects over leg motion instead of an inaccurate mathematical model. In this article, we improve leg speed by automatically tuning the acceleration of legs. For this purpose, we define fuzzy rules based on experiments and we find the optimal acceleration for every given trajectory. A simple fuzzy inference system is used to compute the required acceleration. It is based on five rules using three linguistic variables. Final results show that foot acceleration tuning for straight trajectory generation is a suitable method for achieving accurate, smooth and fast foot movements. Also it is shown that under some conditions average leg speed can be increased up to 100% using the control methods herein proposed. © 2001 John Wiley &