2P1-C09 Integer Inverse Kinematics using Fuzzy Logic and its Application

In this paper, we propose a integer inverse kinematics method for multijoint control. This method reduces the computational overhead of the inverse kinematics operation. Furthermore, it leads to the development of a simple control system, because the use of fuzzy logic enables linguistic modeling of the joint angle. We performed an experiment on a bicycle using the leg of a small humanoid robot and confirmed that via this method the robot can perform the same movements as humans. In addition, we achieved fast information sharing by implementing the all-integer control algorithm in a low-cost and low-power microprocessor.