FACL Based 3D Grasping Controller for a Snake Robot During Locomotion

Author

Ari, Evrim Onur ; Erkmen, Ismet ; Erkmen, Aydan M.

Author_Institution

Div. of Microwave & Syst. Tech., ASELSAN Inc., Ankara

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

4030

Lastpage

4035

Abstract

In this paper, we develop a distributed intelligent fuzzy learning controller for serpentine locomotion while doing lasso-type grasping in 3D environments. The novelty of our approach is not only in the control modularity but on a lasso type grasping having as a moving base the remaining snake links undergoing serpentine gait. Dynamical constraints due to environmental conditions are considered online by a genetic algorithm based evaluator, which evaluates the feasibility of behaviors suggested by the high level controller and modify them. Our approach is demonstrated on the simulation of our modular 12 link snake robot

Keywords

fuzzy control; genetic algorithms; mobile robots; 3D grasping controller; distributed intelligent fuzzy learning controller; genetic algorithm; lasso-type grasping; serpentine locomotion; snake robot; Biological system modeling; Control systems; Fuzzy control; Genetic algorithms; Intelligent robots; Motion control; Navigation; Orbital robotics; Robot sensing systems; Transportation; FACL; biologically inspired robots; lasso- type grasping; search and rescue robotics; snake robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.281863

Filename

4059039