Hierarchical Fuzzy Controller for a Biped Robot
Abdallah Zaidi, Nizar Rokbani, Adel. M. Alimi
Signals and Telecommunication Journal, Vol. 2, No. 2, 2013.
DOI: 
Link: http://www.dline.info/stj/fulltext/v2n2/1.pdf
Abstract:
The paper presents a method developed for control of walking robots. We used, in this work, a hierarchical fuzzy controller. We applied this method on the control of seven degrees of freedom planar biped into free area and without obstacles. First, we use a classical PID controller. Then, we used hierarchical fuzzy logic controller (HFLC) to command our system (the biped robot). The HFLC is introduced to monitor the control system by the conventional PID for position tracking of various joint biped robots driven by electric motors.