Design of the Fuzzy Controller based on Oscillator Networks for a Quadruped Robot

This paper proposed a fuzzy control system based on oscillator networks for the locomotion control of the quadruped robot whose legs have no yaw freedom. The oscillator networks are used to generate stable, synchronized leg gait signal for the locomotion of the robot. The fuzzy controller is introduced to tune the parameters of the oscillator networks for generating adaptive leg motion curve for the out-door environments. The fuzzy controller consist four adaptive fuzzy rules sets to deal with the different out-door environments, respectively. The effectiveness of the proposed approach is examined in a virtual environment by computer simulations.