Acquisition of fuzzy control based exercises of a rings gymnastic robot

T. Yamada; K. Watanabe; K. Kiguchi; K. Izumi

doi:10.1109/ROBOT.2001.933012

Acquisition of fuzzy control based exercises of a rings gymnastic robot

T. Yamada, K. Watanabe, K. Kiguchi, K. Izumi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	2584-2589
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2001.933012
Publication status	Published - Sep 15 2001
Externally published	Yes
Event	2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of Duration: May 21 2001 → May 26 2001

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
ISSN (Print)	1050-4729

Other

Other	2001 IEEE International Conference on Robotics and Automation
Country/Territory	Korea, Republic of
City	Seoul
Period	5/21/01 → 5/26/01

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2001.933012

Cite this

Acquisition of fuzzy control based exercises of a rings gymnastic robot. / Yamada, T.; Watanabe, K.; Kiguchi, K.; Izumi, K.

Proceedings - IEEE International Conference on Robotics and Automation. 2001. p. 2584-2589 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 3).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yamada, T, Watanabe, K, Kiguchi, K & Izumi, K 2001, Acquisition of fuzzy control based exercises of a rings gymnastic robot. in Proceedings - IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, vol. 3, pp. 2584-2589, 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, Republic of, 5/21/01. https://doi.org/10.1109/ROBOT.2001.933012

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title = "Acquisition of fuzzy control based exercises of a rings gymnastic robot",

abstract = "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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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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Acquisition of fuzzy control based exercises of a rings gymnastic robot

Abstract

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