Fuzzy Behavior Integration and Action Fusion for Robotic Excavation
文献类型：期刊论文
| 作者 | X. B. Shi; Paul J. A. Lever; F. Y. Wang
|
| 刊名 | IEEE Transactions on Industrial Electronics
 |
| 出版日期 | 1996 |
| 卷号 | 43期号:3页码:395-402 |
| 关键词 | Robotic Excavation |
| 英文摘要 | This paper discusses control behavior integration and bucket action fusion for excavation control of a robotic front-end-loader type machine. To utilize the experience and expertise from skilled human operators, a fuzzy-logic based control approach is developed. A hierarchical excavation control architecture decomposes excavation goals to tasks, then tasks to behaviors, and finally behaviors to actions. The excavation actions are primitive and can be executed directly by an excavation machine. Finite state machines are used to specify the coordination and integration of behaviors for task execution and actions for behavior implementation. A simple strategy for action fusion is proposed based on fuzzy logic reasoning and the COA defuzzification method. Finally, laboratory experiments are conducted using a PUMA 560 robot arm and a Zebra forcdtorque sensor in a simulated rock excavation environment. Experimental results indicate that the proposed approach in this paper has led to more efficient task execution than our previous approach. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/14889]  |
| 专题 | 自动化研究所_09年以前成果 |
| 推荐引用方式 GB/T 7714 | X. B. Shi,Paul J. A. Lever,F. Y. Wang. Fuzzy Behavior Integration and Action Fusion for Robotic Excavation[J]. IEEE Transactions on Industrial Electronics,1996,43(3):395-402. |
| APA | X. B. Shi,Paul J. A. Lever,&F. Y. Wang.(1996).Fuzzy Behavior Integration and Action Fusion for Robotic Excavation.IEEE Transactions on Industrial Electronics,43(3),395-402. |
| MLA | X. B. Shi,et al."Fuzzy Behavior Integration and Action Fusion for Robotic Excavation".IEEE Transactions on Industrial Electronics 43.3(1996):395-402. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。