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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Zhi-Yuan Yang Chia-Feng Juang |
| Copyright Year | 2014 |
| Description | Author affiliation: Dept. of Electr. Eng., Nat. Chung-Hsing Univ., Taichung, Taiwan (Zhi-Yuan Yang; Chia-Feng Juang) |
| Abstract | This paper proposes hexapod robot locomotion control using a fuzzy controller (FC) learned through particle swarm optimization (PSO). The gait of each leg in the hexapod robot is controlled using a finite state machine so that the robot moves straight forward when the swing amplitude of each leg is set to be identical. This paper proposes locomotion control of the hexapod robot using an FC for applications in different environments. Given the robot state, the FC controls the robot orientation by changing the swing amplitude of the middle leg on each side of the robot. As to the design of the FC, all of the free parameters in which are learned through PSO, which avoids the time-consuming manual design task. The proposed PSO-based FC approach is applied to two hexapod robot locomotion control problems: obstacle boundary-following control and circle-following control. Simulations are conducted to verify the effectiveness of the locomotion control approach. |
| Starting Page | 3861 |
| Ending Page | 3866 |
| File Size | 1397573 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781479938407 |
| DOI | 10.1109/SMC.2014.6974533 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2014-10-05 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot kinematics Legged locomotion Trajectory Training Robot sensing systems obstacle boundary-following control fuzzy controller particle swarm optimization hexapod robot control |
| Content Type | Text |
| Resource Type | Article |
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