Table 8.

Parameter settings and experimental results.

Fuzzy Controller
Slope $S_g$	setting as Figure 6
Velocity $v$
Output	setting as Figure 7
Posture judgment
Grip force $f_f$, $f_d$	L: >80 lbf; M: 30~80 lbf; S: <30 lbf
Experimental results
Downhill	shown as Figure 11, Figure 12
Flat surface	shown as Figure 13, Figure 14
Uphill	shown as Figure 15, Figure 16