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Using hierarchical fuzzy behaviors for manipulation
Örebro University, Department of Technology. (Mobile Robotics Lab)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2003 (English)Conference paper, Oral presentation only (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 behavior-based 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 5 DOF 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-3922OAI: oai:DiVA.org:oru-3922DiVA, id: diva2:138221
Conference
The World Congress of the Intl. Fuzzy Systems Association, IFSA - Istambul, Turkey, 2003
Available from: 2007-08-14 Created: 2007-08-14 Last updated: 2018-01-13Bibliographically approved

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Wasik, ZbigniewSaffiotti, Alessandro

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