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The state diagram of the overall control flow of the controller is shown in Fig. 6, and the internal architecture is shown in Fig. 7.

The detailed control strategy block diagram of the PV-VSG controller is shown in Fig. 2.

The block diagram of the position controller is shown in Figure 7. Figure 6 Overall control architecture of the ankle-foot mechanism.

The effect of the controller is shown in Fig. 18.

The stability of the controller is shown in simulations using a diptera insect model.

Block diagram of the fuzzy controller is shown in Fig. 13.

The membership functions of this controller are shown in Figure 3.

The output membership functions of the proposed fuzzy frequency controller are shown in Fig. 5.

The membership function for the inputs and output of the fuzzy controller are shown in Fig. 4.

The simulation results are shown in Figures 2-4 where the states of the system and the fuzzy controller are shown in Figure 2.

The parameters used for the controller are shown in Table 3, which has been established following the guidelines presented in the previous section.