This work presents the improvement of the control methodology for a robotic smart foot with optical sensors to proprioception and using a hybrid adaptive controller with fuzzy logic and PID. To do this, the adaptive controller performs analysis in 50ms interactions, indicating the necessary adjustments to the PID controller gains. Therefore, experiments were carried out in various scenarios and the adaptive controller was compared with the conventional PID controller. As a result, the adaptive controller showed an improvement in overall performance when applied in scenarios with different ground inclination angles.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.