Academic Journals Database
Disseminating quality controlled scientific knowledge

An FCM-based Design for Balancing of Legged Robots

ADD TO MY LIST
 
Author(s): Omid Motlagh

Journal: Journal of Artificial Intelligence
ISSN 1994-5450

Volume: 4;
Issue: 4;
Start page: 295;
Date: 2011;
VIEW PDF   PDF DOWNLOAD PDF   Download PDF Original page

Keywords: balancing control | legged robots | Fuzzy inference

ABSTRACT
Robot balancing is a challenging task when it comes to legged platforms, e.g., hexapods and quadrupeds. Fuzzy cognitive map (FCM) is well established as a decision making mechanism with many applications. This study presents the very first application of FCM-based inference for autonomous balancing in standard legged robots with 3-revolute joints, i.e., three degrees of freedom (DoF) per limb. FCM has been utilized for balancing control and placement of feet instead of solving complex Jacobians.
Affiliate Program     

Tango Jona
Tangokurs Rapperswil-Jona