Cost-function analysis of optimizing fuzzy-energy regions in the control of underactuated manipulators

Kiyotaka Izumi, Keisuke Ichida, Keigo Watanabe

Research output: Contribution to journalArticle


Underactuated manipulators have to be controlled by following the restriction that the number of actuators is less than the number of generalized coordinates, because they have some passive joints. In this article, we propose a logic-based switching mechanism using a fuzzy-energy region. Boundary curves to separate an error energy region into several energy subregions are constructed by fuzzy logic. Therefore, fuzzy related parameters are optimized by a genetic algorithm (GA). This method is applied to an underactuated system with a drift term, such as a 2-DOF planar manipulator that has only one active joint. The effectiveness of the method is illustrated with some simulations.

Original languageEnglish
Pages (from-to)171-176
Number of pages6
JournalArtificial Life and Robotics
Issue number2
Publication statusPublished - Nov 1 2006



  • Fuzzy-energy region
  • Genetic algorithms
  • Logic-basedswitching
  • Underactuated manipulators

ASJC Scopus subject areas

  • Biochemistry, Genetics and Molecular Biology(all)
  • Artificial Intelligence

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