FUZZY CONTROLLER DESIGN FOR A THREE JOINT ROBOT LEG IN PROTRACTION PHASE - An optimal behavior inspired fuzzy controller design

Mustafa Suphi Erden, Kemal Leblebicioğlu

Abstract

A fuzzy controller design is performed for a three joint robot leg in protraction phase. The aim is to develop a controller to carry the tip point to any given destination. The design is based on the inspirations derived from optimal behaviors of the leg. The optimal trajectories are obtained by using optimization methods utilizing “numerical gradient” and “optimal control” successively. Separate fuzzy controllers are designed for each actuator. In writing the rules each actuator is considered to be an independent agent of the leg system. The protraction motion is divided into two epochs. For each epoch different controller systems are designed to switch from one to the other in between.

References

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  2. Erden, M.S., Leblebicioglu, K. and Halici, U., 2004. Multi-agent system based fuzzy controller design with genetic tuning for a service mobile manipulator robot in the hand-over task, Journal of Intelligent and Robotic Systems, 38: 287-306.
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Paper Citation


in Harvard Style

Suphi Erden M. and Leblebicioğlu K. (2004). FUZZY CONTROLLER DESIGN FOR A THREE JOINT ROBOT LEG IN PROTRACTION PHASE - An optimal behavior inspired fuzzy controller design . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 302-306. DOI: 10.5220/0001132503020306


in Bibtex Style

@conference{icinco04,
author={Mustafa Suphi Erden and Kemal Leblebicioğlu},
title={FUZZY CONTROLLER DESIGN FOR A THREE JOINT ROBOT LEG IN PROTRACTION PHASE - An optimal behavior inspired fuzzy controller design},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={302-306},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001132503020306},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - FUZZY CONTROLLER DESIGN FOR A THREE JOINT ROBOT LEG IN PROTRACTION PHASE - An optimal behavior inspired fuzzy controller design
SN - 972-8865-12-0
AU - Suphi Erden M.
AU - Leblebicioğlu K.
PY - 2004
SP - 302
EP - 306
DO - 10.5220/0001132503020306