Adaptive navigation control for a quadruped robot based on ART and fuzzy logic

Xuedong Chen, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

An adaptive navigation control problem is presented for a quadruped robot in cluttered environments, by incorporating the capability of adaptive resonance theory (ART) in stable category recognition into fuzzy logic control. An ART-based neural network is introduced as an environment identifier for the purpose of adaptive selection of the adequate rule base for a fuzzy controller. Therefore, the proposed adaptive control scheme for the navigation of the robot is implemented by the adaptive fuzzy rule base in response to changes of the robot's environment, which can be fine observed by the proposed environment identifier. Some simulation results are presented to illustrate the proposed algorithm.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages626-631
Number of pages6
Volume1
Publication statusPublished - 2000
Externally publishedYes
Event26th Annual Conference of the IEEE Electronics Society IECON 2000 - Nagoya, Japan
Duration: Oct 22 2000Oct 28 2000

Other

Other26th Annual Conference of the IEEE Electronics Society IECON 2000
CountryJapan
CityNagoya
Period10/22/0010/28/00

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Chen, X., Watanabe, K., Kiguchi, K., & Izumi, K. (2000). Adaptive navigation control for a quadruped robot based on ART and fuzzy logic. In IECON Proceedings (Industrial Electronics Conference) (Vol. 1, pp. 626-631)