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Control of Underactuated Biped Robots Using Event Based Fuzzy Partial Feedback Linearization

Authors: Akbar Allahverdizadeh, Omid Heydarnia, Behnam Dadashzadeh, M. R. Sayyed Noorani


Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control biped walking and running. In this paper, fuzzy partial feedback linearization is presented to overcome its drawback. Numerical simulations verify the effectiveness of the proposed method to generate stable and robust biped walking and running gaits.

Keywords: Fuzzy Control, underactuated system, biped robot, partial feedback linearization

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