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Using hierarchical fuzzy behaviors for manipulation
Örebro University, Department of Technology.
Örebro University, Department of Technology.ORCID iD: 0000-0001-8229-1363
2003 (English)In: Proc. of the World Congress of the Int. Fuzzy Systems Association, 2003Conference paper, Published paper (Refereed)
Abstract [en]

Behavior-based systems have become extremely popular in autonomous robotics. These systems are typically used to control robots with few degrees of fredom (DOF), like mobile platforms. We propose a behaviorbased system able to control a complex plant with several DOF. The key to deal with complexity is the use of fuzzy logic techniques to compose simple behaviors into more complex ones. In this paper, we illustrate our approach on a 5DOF real manipulator, on which several tasks are performed using the same set of basic behaviors.

Place, publisher, year, edition, pages
2003.
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-2812OAI: oai:DiVA.org:oru-2812DiVA, id: diva2:134616
Conference
IFSA 2003, June 29 - July 2, Istanbul, Turkey
Available from: 2005-03-22 Created: 2005-03-22 Last updated: 2018-01-13Bibliographically approved

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No full text in DiVA

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http://aass.oru.se/~zbych/Papers/MyPapers/ifsa03/ifsa03.pdf

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Wasik, ZbigniewSaffiotti, Alessandro

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CiteExportLink to record
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  • apa
  • ieee
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