Fuzzy controller for wall-climbing microrobots.

This paper presents a fuzzy control system that incorporates sensing, control and planning to improve the performance of the wall-climbing microrobots in unstructured environments. After introduction of the robot system, a task reference method is proposed which is based on a fuzzy multisensor data...

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Bibliographic Details
Published in:	IEEE Transactions on fuzzy systems 12, 4 (2004).
Main Author:	Jun Xiao
Format:	Article
Language:	English
Subjects:	Action planning. Finite state machines. Fuzzy controller. Fuzzy logic compensator. Fuzzy multisensor data fusion scheme. Fuzzy sets. Gravity compensation. Inference methods. Motion control. Robot gait generation method. Robot locomotion. Robot navigation. Task scheduling. Task-reference method. Wall-climbing microrobots.