Adaptive control for a climbing robot to transit between differently inclined surfaces

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Adaptive control for a climbing robot to transit between differently inclined surfaces
	Jiang Y(姜勇); Wang HG(王洪光); Fang LJ(房立金); Zhao MY(赵明扬)
	2005
会议名称	11th Joint International Computer Conference (JICC 2005)
会议日期	November 10-12, 2005
会议地点	Chongqing, China
关键词	adaptive control FNN multi-sensor data fusion
页码	275-281
中文摘要	In this paper, a FNN-based adaptive control system for a miniature climbing robot is presented. The main components of the system include a multi-sensor data fusion model and a FNN-based adaptive controller, which consists of a five-layer FNN, a fuzzy-rule base and an adaptive gait sequence generator. By this control system, the robot can autonomously generate proper gait and control itself to transit between two differently inclined surfaces. The properties of the FNN-based adaptive control system are verified by the computer simulations.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	China Comp Federat, Hong Kong Comp Soc, Chongqing Informat Ind Bur, Chongqing Univ, Chongqing Univ Post & Telecommun
会议录	Proceedings of the 11th Joint International Computer Conference
会议录出版者	WORLD SCIENTIFIC PUBL CO PTE LTD
会议录出版地	SINGAPORE
语种	英语
ISBN号	981-256-532-9
WOS记录号	WOS:000233230700062
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8540]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Jiang Y,Wang HG,Fang LJ,et al. Adaptive control for a climbing robot to transit between differently inclined surfaces[C]. 见:11th Joint International Computer Conference (JICC 2005). Chongqing, China. November 10-12, 2005.