A Bipedal Robot Diffuse Logic Equilibrium Control

This work presents the design and construction of a prototype of an experimental Biped Robot capable of standing while simulating human movements. For vertical balance control, a control algorithm based on fuzzy logic is used. The design of the robot has a total of 23 degrees of freedom, the assembly of the robot has been carried out in an aluminum structure manufactured based on a model designed with Google Sketchup. To carry out the movements, a basic distributed control system is implemented with two main cards, one based on a DSPIC (Digital Signal Processor) which is used for processing and control; while the other card is based on a PIC microcontroller used to manage the 23 servomotors used in this robot. The work also describes the design and results of the tests carried out, showing how the equilibrium position is maintained with the implemented control action