Design and Implementation of Intelligent Controllers in Soft Processors for the Walking of a Biped Robot

Authors

  • Jorgue Arturo Quiñonez Rivera Instituto Politécnico Nacional (CITEDI-IPN), Centro de Investigación y Desarrollo de Tecnología Digital, Tijuana
  • Oscar Humberto Montiel Ross Instituto Politécnico Nacional (CITEDI-IPN), Centro de Investigación y Desarrollo de Tecnología Digital, Tijuana
  • Roberto Sepúlveda Cruz Instituto Politécnico Nacional (CITEDI-IPN), Centro de Investigación y Desarrollo de Tecnología Digital, Tijuana
  • Oscar Castillo López Tijuana Institute of Technology

DOI:

https://doi.org/10.13053/cys-22-4-2691

Keywords:

FPGA, inverse kinematics, neural networks, soft processors, biped robot

Abstract

We present the design, construction, and intelligent control for the walking of a biped robot. The controllers are based on fuzzy logic and neural network. The stability of the robot is controlled by the Zero Moment Poin technique. The controllers were implemented into FPGA technology since its versatility to combine sequential processing for softcore multiprocessors systems as well as the use of concurrent processing using hardware description languages, which allows executing tasks in real time providing the robot with a more natural behavior. We show experimental results.

Author Biographies

Jorgue Arturo Quiñonez Rivera, Instituto Politécnico Nacional (CITEDI-IPN), Centro de Investigación y Desarrollo de Tecnología Digital, Tijuana

Departamento de Investigación

Oscar Humberto Montiel Ross, Instituto Politécnico Nacional (CITEDI-IPN), Centro de Investigación y Desarrollo de Tecnología Digital, Tijuana

Departamento de Investigación, Profesor Investigador

Roberto Sepúlveda Cruz, Instituto Politécnico Nacional (CITEDI-IPN), Centro de Investigación y Desarrollo de Tecnología Digital, Tijuana

Departamento de Investigación, Profesor Investigador

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Published

2018-12-30

Issue

Vol. 22 No. 4 (2018): Topic Trends in Computing Research (Guest Editors: A. Aguilar-Meléndez, E. Moya-Sánchez)

Section

Articles

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