TY - GEN
T1 - Acquisition of fuzzy control based exercises of a rings gymnastic robot
AU - Yamada, T.
AU - Watanabe, K.
AU - Kiguchi, K.
AU - Izumi, K.
PY - 2001
Y1 - 2001
N2 - To the best of authors' knowledge there is no work done on ring exercises, though various studies are found on horizontal bar exercises. The ring exercises have the characteristics that the apparatus Can move in all directions freely unlike the horizontal bar exercises with the constraint between hands and the horizontal bar. If the robot that performs rings is realized practically by clarifying the motion control method, an application to the coaching can be expected. Therefore we propose a novel "rings gymnastic robot" in this paper. We acquire fuzzy rules to realize a series of exercises that is a handstand through a backward giant circle by a genetic algorithm, because the rules are considered to be useful for the coaching. The effectiveness of the fuzzy controller is confirmed through a simulation using a derived dynamics of two-link rings gymnastic robot.
AB - To the best of authors' knowledge there is no work done on ring exercises, though various studies are found on horizontal bar exercises. The ring exercises have the characteristics that the apparatus Can move in all directions freely unlike the horizontal bar exercises with the constraint between hands and the horizontal bar. If the robot that performs rings is realized practically by clarifying the motion control method, an application to the coaching can be expected. Therefore we propose a novel "rings gymnastic robot" in this paper. We acquire fuzzy rules to realize a series of exercises that is a handstand through a backward giant circle by a genetic algorithm, because the rules are considered to be useful for the coaching. The effectiveness of the fuzzy controller is confirmed through a simulation using a derived dynamics of two-link rings gymnastic robot.
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U2 - 10.1109/ROBOT.2001.933012
DO - 10.1109/ROBOT.2001.933012
M3 - Conference contribution
AN - SCOPUS:0034861680
SN - 0780365763
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2584
EP - 2589
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2001 IEEE International Conference on Robotics and Automation
Y2 - 21 May 2001 through 26 May 2001
ER -