Design of a Fuzzy PID Controller for the Balancing Problem of a Quadruped Robot

In this work we are presenting a fuzzy proportional integral derivative (PID) controller for the balancing problem of a quadruped robot. The classical existing PID controller is enhanced with fuzzy logic to improve its performance. The balancing problem is very important to achieve efficient movement of the robot, as well as to minimize energy usage. A comparison of the designed fuzzy PID controller with respect to the existing PID controller is presented with the idea of later verifying the superiority of the proposal. The experimentation has been performed with a particular robot called FNK0050 for which only a PID controller was previously used, so the contribution is in the enhancement of the control using fuzzy logic with the goal of achieving better results.