Design of a genetic-fuzzy system for planning crab gaits of a six-legged Robot

Pratihar, D. K. ; Deb, K. ; Ghosh, A. (1999) Design of a genetic-fuzzy system for planning crab gaits of a six-legged Robot CIT. Journal of Computing and Information Technology, 7 (1). pp. 93-101. ISSN 1330-1136

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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 Cs are found to perform better than the author-designed FLCs. Although optimization is performed off-line, the hexapod can use these FLCs 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.

Item Type:Article
Source:Copyright of this article belongs to University Computing Centre, Zagreb, Croatia.
Keywords:Genetic Algorithm; Fuzzy System; Fuzzy Logic; Crab; Gait; Robot; Leg; System Design; Brachyura; Decapoda; Crustacea; Arthropoda; Invertebrata
ID Code:75148
Deposited On:22 Dec 2011 03:08
Last Modified:22 Dec 2011 04:46

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