Figure 1.
Robot Dog side view
Figure 2.
Robot Dog front view
Figure 3.
Control problem definition
Figure 4.
Effect of disturbances on the controller
Figure 5.
Controlling the robot with the server
Figure 6.
Possible robot trajectories
Figure 7.
Structure of the fuzzy PD controller (x axis)
Figure 8.
Surface of the controller for the velocity
Figure 9.
Input and outputs of the fuzzy PD controller (z axis)
Figure 10.
Control surface for the velocity for the z axis
Figure 11.
Test scenario for the experiments
Figure 12.
Fuzzy PD controller adjusting the position with respect to the ball in x axis
Figure 13.
Fuzzy PD controller performance in the 1 m distance case
Table 1.
Results for the experiments with 80 cm
| Track of 80 cm | ||
|---|---|---|
| Tests | PID | Fuzzy PD |
| 1 | 26.1 | 12.45 |
| 2 | 28.39 | 12.26 |
| 3 | 24.61 | 11.54 |
| 4 | 22.43 | 11.51 |
| 5 | 26.71 | 10.31 |
| 6 | 26.43 | 12.72 |
| 7 | 22.73 | 10.63 |
| 8 | 21.04 | 11.16 |
| 9 | 20.05 | 13.87 |
| 10 | 19.42 | 15.84 |
| 11 | 22.71 | 13.52 |
| 12 | 22.91 | 12.70 |
| 13 | 20.76 | 14.55 |
| 14 | 21.36 | 12.66 |
| 15 | 30.03 | 13.39 |
| 16 | 25.47 | 14.07 |
| 17 | 23.00 | 17.08 |
| 18 | 21.43 | 16.62 |
| 19 | 24.01 | 12.71 |
| 20 | 26.51 | 15.32 |
| 21 | 27.09 | 13.42 |
| 22 | 20.82 | 15.71 |
| 23 | 23.97 | 14.47 |
| 24 | 26.47 | 13.63 |
| 25 | 24.78 | 14.84 |
| 26 | 24.56 | 12.77 |
| 27 | 23.11 | 14.16 |
| 28 | 27.17 | 13.89 |
| 29 | 29.47 | 14.69 |
| 30 | 22.63 | 11.90 |
| s | 24.2056 | 13.4796 |
| 2.8009 | 1.6871 | |
Table 2.
Results for the experiments with 1 m
| Track of 1 m | ||
|---|---|---|
| Tests | Fuzzy PD | PID |
| 1 | 26.28 | NAO |
| 2 | 28.12 | NAO |
| 3 | 18.62 | NAO |
| 4 | 36.12 | NAO |
| 5 | 26.50 | NAO |
| 6 | 33.47 | NAO |
| 7 | 30.47 | NAO |
| 8 | 27.02 | NAO |
| 9 | 32.56 | NAO |
| 10 | 35.92 | NAO |
| 11 | 22.87 | NAO |
| 12 | 31.83 | NAO |
| 13 | 33.00 | NAO |
| 14 | 31.26 | NAO |
| 15 | 33.33 | NAO |
| 16 | 27.30 | NAO |
| 17 | 29.89 | NAO |
| 18 | 20.31 | NAO |
| 19 | 23.18 | NAO |
| 20 | 33.55 | NAO |
| 21 | 25.78 | NAO |
| 22 | 36.65 | NAO |
| 23 | 25.83 | NAO |
| 24 | 31.04 | NAO |
| 25 | 23.51 | NAO |
| 26 | 38.31 | NAO |
| 27 | 32.30 | NAO |
| 28 | 26.93 | NAO |
| 29 | 36.39 | NAO |
| 30 | 33.30 | NAO |
| 31 | 26.70 | NAO |
| 32 | 32.59 | NAO |
| 33 | 28.74 | NAO |
| 34 | 31.02 | NAO |
| 35 | 33.36 | NAO |
| 36 | 27.88 | NAO |
| 37 | 28.07 | NAO |
| 38 | 23.83 | NAO |
| 39 | 29.32 | NAO |
| 40 | 28.15 | NAO |
| 29.5325 | NAO | |
| s | 4.6036 | NAO |