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

Jorgue Arturo Quiñonez Rivera, Oscar Humberto Montiel Ross, Roberto Sepúlveda Cruz, Oscar Castillo López


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.


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

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