An ART-based fuzzy controller for the adaptive navigation of a quadruped robot

Xuedong Chen, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

研究成果: Contribution to journalArticle査読

32 被引用数 (Scopus)

抄録

An adaptive-resonance theory (ART)-based fuzzy controller is presented for the adaptive navigation of a quadruped robot in cluttered environments, by incorporating the capability of ART in stable category recognition into fuzzy-logic control for selecting the adequate rule base. The environment category and the navigation mechanism are first described for the quadruped robot. The ART-based fuzzy controller, including an ART-based environment recognizer, a comparer, combined rule bases, and a fuzzy inferring mechanism, is next introduced for the purpose of the adaptive navigation of the quadruped robot. Unlike classical/conventional adaptive-fuzzy controllers, the present adaptive-control scheme is implemented by the adaptive selection of fuzzy-rule base in response to changes of the robot environment, which can be categorized and recognized by the proposed environment recognizer. The results of simulation and experiment show that the adaptive-fuzzy controller is effective.

本文言語英語
ページ(範囲)318-328
ページ数11
ジャーナルIEEE/ASME Transactions on Mechatronics
7
3
DOI
出版ステータス出版済み - 9 2002
外部発表はい

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

フィンガープリント

「An ART-based fuzzy controller for the adaptive navigation of a quadruped robot」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル