An Application of Fuzzy State Automata: Motion Control of an Hexapod Walking Machine

An Application of Fuzzy State Automata: Motion Control of an Hexapod Walking Machine

This paper describes an application of Fuzzy State Automata to the motion control of an hexapod walking machine. Fuzzy State Automata are used as reference generators for each leg of the robot managing each phase of the step; moreover interaction between the automata allows leg coordination without...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Morano, D., Reyneri, L. M.
Format: Buchkapitel
Sprache:eng
Schlagworte:
Applied sciences
Automata. Logic controller
Clock Cycle
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Main Body
Membership Function
Motion Control
Walking Speed
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Beschreibung
Zusammenfassung:This paper describes an application of Fuzzy State Automata to the motion control of an hexapod walking machine. Fuzzy State Automata are used as reference generators for each leg of the robot managing each phase of the step; moreover interaction between the automata allows leg coordination without a higher level controller. This example shows some interesting points of Fuzzy State Automata like parameter tuning, emptying abandoned states and coordination between automata.
ISSN:0302-9743
1611-3349
DOI:10.1007/3-540-45723-2_51