Üç Eklemli Bir Robot Bacaǧmm İleri Adim Atmasi İçin Optimal Davraniş Esinli Bulanik Kontrolcu Tasarimi

Translated title of the contribution: Optimal behaviour inspired fuzzy controller design for a three joint robot leg in protraction phase

Mustafa Suphi Erden, Kemal Leblebicioǧlu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 of "numeric 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. The crucial idea in this work is the "multi agent perspective" in designing separate fuzzy controllers for the separate joints. The results of the overall controller system are successful in carrying the tip point to any given destination, following a path resembling the optimal one.

Translated title of the contributionOptimal behaviour inspired fuzzy controller design for a three joint robot leg in protraction phase
Original languageUndefined/Unknown
Title of host publicationProceedings of the IEEE 12th Signal Processing and Communications Applications Conference, SIU 2004
EditorsB. Gunsel
Pages466-469
Number of pages4
DOIs
Publication statusPublished - 1 Dec 2004
EventProceedings of the IEEE 12th Signal Processing and Communications Applications Conference - Kusadasi, United Kingdom
Duration: 28 Apr 200430 Apr 2004

Conference

ConferenceProceedings of the IEEE 12th Signal Processing and Communications Applications Conference
Abbreviated titleSIU 2004
CountryUnited Kingdom
CityKusadasi
Period28/04/0430/04/04

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  • Cite this

    Erden, M. S., & Leblebicioǧlu, K. (2004). Üç Eklemli Bir Robot Bacaǧmm İleri Adim Atmasi İçin Optimal Davraniş Esinli Bulanik Kontrolcu Tasarimi. In B. Gunsel (Ed.), Proceedings of the IEEE 12th Signal Processing and Communications Applications Conference, SIU 2004 (pp. 466-469) https://doi.org/10.1109/SIU.2004.1338565