Adaptive control for a climbing robot to transit between differently inclined surfaces
文献类型：会议论文
| 作者 | Jiang Y(姜勇) ; Wang HG(王洪光); Fang LJ(房立金); Zhao MY(赵明扬)
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| 出版日期 | 2005 |
| 会议名称 | 11th Joint International Computer Conference (JICC 2005) |
| 会议日期 | November 10-12, 2005 |
| 会议地点 | Chongqing, China |
| 关键词 | adaptive control FNN multi-sensor data fusion |
| 页码 | 275-281 |
| 中文摘要 | In this paper, a FNN-based adaptive control system for a miniature climbing robot is presented. The main components of the system include a multi-sensor data fusion model and a FNN-based adaptive controller, which consists of a five-layer FNN, a fuzzy-rule base and an adaptive gait sequence generator. By this control system, the robot can autonomously generate proper gait and control itself to transit between two differently inclined surfaces. The properties of the FNN-based adaptive control system are verified by the computer simulations. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | China Comp Federat, Hong Kong Comp Soc, Chongqing Informat Ind Bur, Chongqing Univ, Chongqing Univ Post & Telecommun |
| 会议录 | Proceedings of the 11th Joint International Computer Conference
 |
| 会议录出版者 | WORLD SCIENTIFIC PUBL CO PTE LTD |
| 会议录出版地 | SINGAPORE |
| 语种 | 英语 |
| ISBN号 | 981-256-532-9 |
| WOS记录号 | WOS:000233230700062 |
| 源URL | [http://ir.sia.cn/handle/173321/8540]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Jiang Y,Wang HG,Fang LJ,et al. Adaptive control for a climbing robot to transit between differently inclined surfaces[C]. 见:11th Joint International Computer Conference (JICC 2005). Chongqing, China. November 10-12, 2005. |
入库方式： OAI收割
来源：沈阳自动化研究所
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