Intelligent extended control of the walking robot motion

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Authors: Vladareanu, V., Schiopu, P., Deng, M. and Yu, H.

Journal: International Conference on Advanced Mechatronic Systems, ICAMechS

Pages: 489-495

eISSN: 2325-0690

ISBN: 9781479963812

ISSN: 2325-0682

DOI: 10.1109/ICAMechS.2014.6911594

© 2014 IEEE. The paper presents the design and simulation of a three degrees-of-freedom robotic device for use in an autonomous robotic platform. The tracking reference for the angular joints is given using a trained neuro-fuzzy model instead of the usual inverse kinematic system. The joint actuators are driven using a selection of position controllers and a comparison for their performance is provided. The paper draws on some previously investigated concepts of great actuality to the field such as neuro-fuzzy networks, Extenics and reduced-base fuzzy control.

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