Izvorni znanstveni članak
Design of a Genetic-Fuzzy System for Planning Crab Gaits of a Six-legged Robot
Dilip Kumar Pratihar
; Kanpur Genetic Algorithms Laboratory (KanGAL), Department of Mechanical Engineering, Indian Institute of Technology, Kanpur, India
Kalyanmoy Deb
; Kanpur Genetic Algorithms Laboratory (KanGAL), Department of Mechanical Engineering, Indian Institute of Technology, Kanpur, India
Amitabha Ghosh
; Kanpur Genetic Algorithms Laboratory (KanGAL), Department of Mechanical Engineering, Indian Institute of Technology, Kanpur, India
Sažetak
This paper describes a genetic-fuzzy system in which a genetic algorithm (GA) is used to improve the performance of a fuzzy logic controller (FLC). The proposed algorithm is tested on a number of gait-generation problems of a hexapod for crossing a ditch while moving on flat terrain along a straight line path with minimum number of legs on the ground and with maximum average kinematic margin of the ground-legs. Moreover, the hexapod will have to maintain its static stability while crossing the ditch. The movement of each leg of the hexapod is controlled by a separate fuzzy logic controller and a GA is used to find a set of good rules for each FLC from the author-defined large rule base. The optimized Fl.Cs are found to perform better than the author-designed Fl.Cs. Although optimization is performed off-line, the hexapod can use these Fl.Cs to navigate in real-world on-line scenarios. As an FLC is less expensive computationally, the computational complexity of the proposed algorithm will be less than that of the traditional methods of gait generation.
Ključne riječi
genetic-fuzzy system; crab gait; hexapod; static stability; kinematic margin
Hrčak ID:
150202
URI
Datum izdavanja:
30.3.1999.
Posjeta: 512 *