Intelligent Control for Wall Climbing Robot

被引：0
|
作者：
Xiao, Jun [1 ]
Wang, Hongguang [2 ]
Xi, Ning [3 ]
机构：
[1] Northeastern Univ, Coll Informat Sci & Engn, Shenyang 110004, Peoples R China
[2] Chinese Acad Sci, Shenyang Inst Automat, Shenyang 110008, Peoples R China
[3] Michigan State Univ, E Lansing, MI 48824 USA
来源：
CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS | 2009年
关键词：
climbing robot; data fusion; gait;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1336 / +
页数：2
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