Motion control of an hexapod walking machine using fuzzy state automata

被引：0
|
作者：
Morano, D [1 ]
Reyneri, LM [1 ]
机构：
[1] Politecn Torino, Dipartimento Elettron, I-10129 Turin, Italy
来源：
COMPUTATIONAL INTELLIGENT SYSTEMS FOR APPLIED RESEARCH | 2002年
关键词：
D O I：
10.1142/9789812777102_0054
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper describes the application of Fuzzy State Automata to the motion control of an hexapod walking machine. Fuzzy State Automata are used as reference generators for each leg of the robot managing each phase of the step; moreover, interaction between the automata allows intrinsic leg coordination without a higher level controller. The main advantage of using Fuzzy State Automata is that it is possible to plan complex trajectories and to avoid high accelerations using simple joint controllers.
引用
收藏
页码：445 / 452
页数：8
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