Fundamental wheel Control for Artificial Life-robot

Recently the robot industry has developed quickly. There are robots carrying luggage at factories, the amusement robots (such as the pet-type robot) in the house, and so on. As the ability of computers improve, robot ability also improves, because mary calculations can be done in little time. Consequently robots can perform complex motions by various control methods. The robot in our laboratory was developed in order to assist various works in a hospital. We controlled our robot using PID control method. So this paper is written about PID control.