File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Article: Fuzzy controller for wall-climbing microrobots

TitleFuzzy controller for wall-climbing microrobots
Authors
Issue Date2004
Citation
IEEE Transactions on Fuzzy Systems, 2004, v. 12, n. 4, p. 466-480 How to Cite?
AbstractThis paper presents a fuzzy control system that incorporates sensing, control and planning to improve the performance of the wall-climbing microrobots in unstructured environments. After introduction of the robot system, a task reference method is proposed which is based on a fuzzy multisensor data fusion scheme. The method provides a novel mechanism to efficiently integrate task scheduling, action planning and motion control in a unified framework. A robot gait generation method is described which switches the robot locomotion between different motion modes with the help of a finite state machine driven by sensory information. A fuzzy motion controller is designed to improve control performance and reduce power consumption by the suitable selection of fuzzy sets and inference methods, as well as the definition of corresponding membership functions and control rule bases. A fuzzy logic compensator is developed to compensate the gravitational effects according to different robot configurations and task situations. Experimental results prove the validity of the proposed methods. © 2004 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/212972
ISSN
2015 Impact Factor: 6.701
2015 SCImago Journal Rankings: 5.800

 

DC FieldValueLanguage
dc.contributor.authorXiao, Jun-
dc.contributor.authorXiao, Jizhong Z.-
dc.contributor.authorXi, Ning-
dc.contributor.authorTummala, R. Lal-
dc.contributor.authorMukherjee, Ranjan-
dc.date.accessioned2015-07-28T04:05:38Z-
dc.date.available2015-07-28T04:05:38Z-
dc.date.issued2004-
dc.identifier.citationIEEE Transactions on Fuzzy Systems, 2004, v. 12, n. 4, p. 466-480-
dc.identifier.issn1063-6706-
dc.identifier.urihttp://hdl.handle.net/10722/212972-
dc.description.abstractThis paper presents a fuzzy control system that incorporates sensing, control and planning to improve the performance of the wall-climbing microrobots in unstructured environments. After introduction of the robot system, a task reference method is proposed which is based on a fuzzy multisensor data fusion scheme. The method provides a novel mechanism to efficiently integrate task scheduling, action planning and motion control in a unified framework. A robot gait generation method is described which switches the robot locomotion between different motion modes with the help of a finite state machine driven by sensory information. A fuzzy motion controller is designed to improve control performance and reduce power consumption by the suitable selection of fuzzy sets and inference methods, as well as the definition of corresponding membership functions and control rule bases. A fuzzy logic compensator is developed to compensate the gravitational effects according to different robot configurations and task situations. Experimental results prove the validity of the proposed methods. © 2004 IEEE.-
dc.languageeng-
dc.relation.ispartofIEEE Transactions on Fuzzy Systems-
dc.titleFuzzy controller for wall-climbing microrobots-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/TFUZZ.2004.832520-
dc.identifier.scopuseid_2-s2.0-4344577091-
dc.identifier.volume12-
dc.identifier.issue4-
dc.identifier.spage466-
dc.identifier.epage480-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats