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A fuzzy behavior-based control system for manipulation
Örebro University, Department of Technology. (Mobile Robotics Lab)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2002 (English)In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, 2002, p. 1596-1601Conference paper, Published paper (Refereed)
Abstract [en]

Behavior-based approaches to robot control are extremely popular in mobile robotics, but still rarely used for manipulation. We propose a behavior-based system that performs manipulation tasks using visual feedback. The distinctive points of our proposal are: (i) visual behaviors are implemented using a new camera-based approach; (ii) reactive fuzzy rules are used to arbitrate behaviors; and (iii) the outputs of concurrent behaviors are fused using fuzzy logic. We show experiments on a real arm performing a pick-and-place task that illustrate our approach and demonstrate its advantages over current approaches.

Place, publisher, year, edition, pages
2002. p. 1596-1601
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3932DOI: 10.1109/IRDS.2002.1043983ISBN: 0-7803-7398-7 (print)OAI: oai:DiVA.org:oru-3932DiVA, id: diva2:138231
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Lausanne, CH, 2002
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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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf