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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

Puni tekst: engleski, pdf (4 MB) str. 93-101 preuzimanja: 64* citiraj
APA 6th Edition
Pratihar, D.K., Deb, K. i Ghosh, A. (1999). Design of a Genetic-Fuzzy System for Planning Crab Gaits of a Six-legged Robot. Journal of computing and information technology, 7 (1), 93-101. Preuzeto s https://hrcak.srce.hr/150202
MLA 8th Edition
Pratihar, Dilip Kumar, et al. "Design of a Genetic-Fuzzy System for Planning Crab Gaits of a Six-legged Robot." Journal of computing and information technology, vol. 7, br. 1, 1999, str. 93-101. https://hrcak.srce.hr/150202. Citirano 20.10.2019.
Chicago 17th Edition
Pratihar, Dilip Kumar, Kalyanmoy Deb i Amitabha Ghosh. "Design of a Genetic-Fuzzy System for Planning Crab Gaits of a Six-legged Robot." Journal of computing and information technology 7, br. 1 (1999): 93-101. https://hrcak.srce.hr/150202
Harvard
Pratihar, D.K., Deb, K., i Ghosh, A. (1999). 'Design of a Genetic-Fuzzy System for Planning Crab Gaits of a Six-legged Robot', Journal of computing and information technology, 7(1), str. 93-101. Preuzeto s: https://hrcak.srce.hr/150202 (Datum pristupa: 20.10.2019.)
Vancouver
Pratihar DK, Deb K, Ghosh A. Design of a Genetic-Fuzzy System for Planning Crab Gaits of a Six-legged Robot. Journal of computing and information technology [Internet]. 1999 [pristupljeno 20.10.2019.];7(1):93-101. Dostupno na: https://hrcak.srce.hr/150202
IEEE
D.K. Pratihar, K. Deb i A. Ghosh, "Design of a Genetic-Fuzzy System for Planning Crab Gaits of a Six-legged Robot", Journal of computing and information technology, vol.7, br. 1, str. 93-101, 1999. [Online]. Dostupno na: https://hrcak.srce.hr/150202. [Citirano: 20.10.2019.]

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
https://hrcak.srce.hr/150202

Posjeta: 96 *