NDLI: Fuzzy systems to solve inverse kinematics problem in robots control: application to an hexapod robots' leg

Content Provider	IEEE Xplore Digital Library
Author	Netto, S.M.C. Evsukoff, A. Suell Dutra, M.
Copyright Year	2000
Description	Author affiliation: Programa de Engenharia Mecanica, Univ. Federal do Rio de Janeiro, Brazil (Netto, S.M.C.)
Abstract	The complexity of walking robots poses a number of control problems due to the large number of degrees of freedom involved in the robot's motion. This work deals with the design of a hexapod robot, whose legs have 3 rotative joints and the same configuration. The kinematics analysis of one leg is presented and used to generate data for black box identification using fuzzy systems and neural networks: the direct kinematics is used to generate the training data and the inverse kinematics is used to generate the testing data. Two fuzzy systems and a neural network are used as general black box methods to solve the inverse kinematics problem in robots' leg control. Results have shown that reasonable precision can be achieved with low computational cost.
Starting Page	150
Ending Page	155
File Size	552005
Page Count	6
File Format	PDF
ISBN	0769508561
ISSN	15224899
DOI	10.1109/SBRN.2000.889730
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-11-25
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy systems Kinematics Legged locomotion Leg Neural networks Motion control Robot motion Training data System testing Robot control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in