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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)
Department机器人学研究室
Conference Name11th Joint International Computer Conference (JICC 2005)
Conference DateNovember 10-12, 2005
Conference PlaceChongqing, China
Author of SourceChina Comp Federat, Hong Kong Comp Soc, Chongqing Informat Ind Bur, Chongqing Univ, Chongqing Univ Post & Telecommun
Source PublicationProceedings of the 11th Joint International Computer Conference
PublisherWORLD SCIENTIFIC PUBL CO PTE LTD
Publication PlaceSINGAPORE
2005
Pages275-281
Indexed ByEI ; CPCI(ISTP)
EI Accession number20142817916594
WOS IDWOS:000233230700062
Contribution Rank1
ISBN981-256-532-9
KeywordAdaptive Control Fnn Multi-sensor Data Fusion
AbstractIn 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8540
Collection机器人学研究室
Affiliation1.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.Graduate School, Chinese Academy of Sciences, Beijing, 100039, China
Recommended Citation
GB/T 7714
Jiang Y,Wang HG,Fang LJ,et al. Adaptive control for a climbing robot to transit between differently inclined surfaces[C]//China Comp Federat, Hong Kong Comp Soc, Chongqing Informat Ind Bur, Chongqing Univ, Chongqing Univ Post & Telecommun. SINGAPORE:WORLD SCIENTIFIC PUBL CO PTE LTD,2005:275-281.
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