I researched a master's thesis in the College of Engineering at the University of Basrah (Design and implementation of a self-tuning fuzzy controller for a 5-joint robot) for the student "Haider Hashem Aboud"

The thesis dealt with a comprehensive study of the ANFIS controller technology for a human with two legs. The study also included the design and implementation of a bird flocking algorithm (PSO) to obtain the best response by deducing the optimal values ​​of the input and output gain of the ANFIS controller. The two-legged robot contains the links that are linked to each other by joints in order to simulate the movements and way of human walking. The angles of these joints are controlled by the adaptive nervous fuzzy systems controller "ANFIS", where the controller controls the angles using special modified motors from the "motor servo" motors. It is difficult to control the gait of the two-legged robot because it is a non-linear system. Adaptable Neuro Fuzzy (ANFIS) on a two-legged robot model and compared with the designed PID controller which was applied to the robot model, the proposed controllers were tested in different data such as moving off-road and climbing stairs. The simulation results obtained from "Matlab 2017" program clearly indicate the durability and effectiveness of the proposed controller for moving the two-legged robot.