Intelligent Control forWall Climbing Robot
An intelligent control system is presented in this paper for a wall climbing robot. After the introduction of robot system design, a task reference method is proposed which is based on a fuzzy multi-sensor data fusion scheme. The method provides a novel mechanism to efficiently integrate task scheduling, action planning and motion control in a unified framework. A robot gait generation method is described which switches the robot locomotion between different motion modes with the help of a finite state machine driven by sensory information. Experimental results prove the validity of the proposed methods.
climbing robot data fusion gait
Jun Xiao Hongguang Wang Ning Xi
College of Information Science and Engineering, Northeastern University, China 110004 Shenyang Institute of Automation, Chinese academy of sciences, Shenyang110008, China Michigan State University, Michigan State 48824, USA
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
1336-1341
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）