Fuzzy Logic Control of a Humanoid Robot on Unstable Terrain

  • Chris Iverach-Brereton
  • Jacky Baltes
  • Brittany Postnikoff
  • Diana Carrier
  • John Anderson
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9513)


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.


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Authors and Affiliations

  • Chris Iverach-Brereton
    • 1
  • Jacky Baltes
    • 1
  • Brittany Postnikoff
    • 1
  • Diana Carrier
    • 1
  • John Anderson
    • 1
  1. 1.University of ManitobaWinnipegCanada

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