Fuzzy logic control of a humanoid robot on unstable terrain

Chris Iverach-Brereton*, Jacky Baltes, Brittany Postnikoff, Diana Carrier, John Anderson

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


This paper describes a novel system for enabling a humanoid robot to balance on highly dynamic terrain using fuzzy logic. We evaluate this system by programming Jimmy, a small, humanoid DARwIn-OP robot, to balance on a bongo board – a simple apparatus consisting of a deck resting on a free-rolling wheel – using our novel fuzzy logic system and a PID controller based on our previous work (Baltes et al. [1]). Both control algorithms are tested using two different control policies: “do the shake,” wherein the robot attempts to keep the bongo board’s deck level by CoM manipulation; and “let’s sway,” wherein the robot pumps its legs up and down at regular intervals in an attempt to induce a state of dynamic stability to the system. Our experiments show that fuzzy logic control is equally capable to PID control for controlling a bongo board system.

Original languageEnglish
Title of host publicationRoboCup 2015
Subtitle of host publicationRobot World Cup XIX
EditorsJianmin Ji, Luis Almeida, Sean Luke, Gerald Steinbauer
PublisherSpringer Verlag
Number of pages12
ISBN (Print)9783319293387
Publication statusPublished - 2015
Externally publishedYes
Event19th Annual RoboCup International Symposium, 2015 - Hefei, China
Duration: 2015 Jul 232015 Jul 23

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other19th Annual RoboCup International Symposium, 2015

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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