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Autonomous Goal Following for a Quadruped Robot Using Fuzzy Proportional Control Cover

Autonomous Goal Following for a Quadruped Robot Using Fuzzy Proportional Control

Journal of Automation, Mobile Robotics and Intelligent Systems
Volume 19 (2025): Issue 2 (June 2025)
By:
Open Access
|Jun 2025

Figures & Tables

Figure 1.

Robot Dog side view
Robot Dog side view

Figure 2.

Robot Dog front view
Robot Dog front view

Figure 3.

Control problem definition
Control problem definition

Figure 4.

Effect of disturbances on the controller
Effect of disturbances on the controller

Figure 5.

Controlling the robot with the server
Controlling the robot with the server

Figure 6.

Possible robot trajectories
Possible robot trajectories

Figure 7.

Structure of the fuzzy PD controller (x axis)
Structure of the fuzzy PD controller (x axis)

Figure 8.

Surface of the controller for the velocity
Surface of the controller for the velocity

Figure 9.

Input and outputs of the fuzzy PD controller (z axis)
Input and outputs of the fuzzy PD controller (z axis)

Figure 10.

Control surface for the velocity for the z axis
Control surface for the velocity for the z axis

Figure 11.

Test scenario for the experiments
Test scenario for the experiments

Figure 12.

Fuzzy PD controller adjusting the position with respect to the ball in x axis
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
Fuzzy PD controller performance in the 1 m distance case

Results for the experiments with 1 m

Track of 1 m
TestsFuzzy PDPID
126.28NAO
228.12NAO
318.62NAO
436.12NAO
526.50NAO
633.47NAO
730.47NAO
827.02NAO
932.56NAO
1035.92NAO
1122.87NAO
1231.83NAO
1333.00NAO
1431.26NAO
1533.33NAO
1627.30NAO
1729.89NAO
1820.31NAO
1923.18NAO
2033.55NAO
2125.78NAO
2236.65NAO
2325.83NAO
2431.04NAO
2523.51NAO
2638.31NAO
2732.30NAO
2826.93NAO
2936.39NAO
3033.30NAO
3126.70NAO
3232.59NAO
3328.74NAO
3431.02NAO
3533.36NAO
3627.88NAO
3728.07NAO
3823.83NAO
3929.32NAO
4028.15NAO
X¯ 29.5325NAO
s4.6036NAO

Results for the experiments with 80 cm

Track of 80 cm
TestsPIDFuzzy PD
126.112.45
228.3912.26
324.6111.54
422.4311.51
526.7110.31
626.4312.72
722.7310.63
821.0411.16
920.0513.87
1019.4215.84
1122.7113.52
1222.9112.70
1320.7614.55
1421.3612.66
1530.0313.39
1625.4714.07
1723.0017.08
1821.4316.62
1924.0112.71
2026.5115.32
2127.0913.42
2220.8215.71
2323.9714.47
2426.4713.63
2524.7814.84
2624.5612.77
2723.1114.16
2827.1713.89
2929.4714.69
3022.6311.90
s24.205613.4796
X¯ 2.80091.6871
DOI: https://doi.org/10.14313/jamris-2025-017 | Journal eISSN: 2080-2145 | Journal ISSN: 1897-8649
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Language: English
Page range: 73 - 78
Submitted on: Aug 16, 2024
Accepted on: Nov 23, 2024
Published on: Jun 26, 2025
Published by: Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
In partnership with: Paradigm Publishing Services
Publication frequency: 4 times per year
Keywords:
fuzzy control,
fuzzy proportional,
quadruped robot
Related subjects:
Computer sciences,
Artificial intelligence,
Engineering,
Electrical engineering,
Control engineering, metrology and testing,
Mechanical engineering,
Fundamentals of mechanical engineering

© 2025 Jose Eduardo Lopez-Ramos, Oscar Castillo, Patricia Melin, published by Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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