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Authors: Mustafa Suphi Erden and Kemal Leblebicioğlu

Affiliation: Middle East Technical University, Turkey

Keyword(s): Robot leg, fuzzy controller, optimal control.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

Abstract: A fuzzy controller design is performed for a three joint robot leg in protraction phase. The aim is to develop a controller to carry the tip point to any given destination. The design is based on the inspirations derived from optimal behaviors of the leg. The optimal trajectories are obtained by using optimization methods utilizing “numerical gradient” and “optimal control” successively. Separate fuzzy controllers are designed for each actuator. In writing the rules each actuator is considered to be an independent agent of the leg system. The protraction motion is divided into two epochs. For each epoch different controller systems are designed to switch from one to the other in between.

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Paper citation in several formats:
Suphi Erden, M. and Leblebicioğlu, K. (2004). FUZZY CONTROLLER DESIGN FOR A THREE JOINT ROBOT LEG IN PROTRACTION PHASE - An optimal behavior inspired fuzzy controller design. In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 972-8865-12-0; ISSN 2184-2809, SciTePress, pages 302-306. DOI: 10.5220/0001132503020306

@conference{icinco04,
author={Mustafa {Suphi Erden}. and Kemal Leblebicioğlu.},
title={FUZZY CONTROLLER DESIGN FOR A THREE JOINT ROBOT LEG IN PROTRACTION PHASE - An optimal behavior inspired fuzzy controller design},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2004},
pages={302-306},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001132503020306},
isbn={972-8865-12-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - FUZZY CONTROLLER DESIGN FOR A THREE JOINT ROBOT LEG IN PROTRACTION PHASE - An optimal behavior inspired fuzzy controller design
SN - 972-8865-12-0
IS - 2184-2809
AU - Suphi Erden, M.
AU - Leblebicioğlu, K.
PY - 2004
SP - 302
EP - 306
DO - 10.5220/0001132503020306
PB - SciTePress