Study and Simulation of Control Method Based Biped Robot Walking On Water

In this paper the control method about biped robot walking on water is mainly developed. As the complexity of the water environment, biped robot walking on water encounter many difficulties when walking such as external environment modeling, gait planning, water interference and so on. The traditional model-based exact kinematic solution method is not applied. This article studies control algorithm that combine CPG neural networks and fuzzy control. The control algorithm is used for robot process control. The nonlinear model of the robot is got from electro-mechanical system co-simulation. In order to verify the validity of the algorithm, biped robot control system is established. Simulation results show that the algorithm can meet the control requirements of walking biped robot biped robot walking on water.