Constrained Multilegged Robot System Modeling and Fuzzy Control with Uncertain Kinematics and Dynamics Incorporating Foot Force Optimization

IEEE Transactions on Systems, Man, and Cybernetics: Systems

Volumn 46, Issue 1, 2016, Pages 1-15

  Li, Zhijun ^a   Xiao, Shengtao ^b   Ge, Shuzhi Sam ^b,c   Su, Hang ^a  

^a SOUTH CHINA UNIVERSITY OF TECHNOLOGY   (China)

^b NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

^c UNIVERSITY OF ELECTRONIC SCIENCE AND TECHNOLOGY OF CHINA   (China)

Author keywords

Forces distribution; fuzzy based motion force control; kinematics and dynamics uncertainties; Multilegged robot

Indexed keywords

ADAPTIVE SYSTEMS; DYNAMICS; KINEMATICS; MOTION TRACKING; QUADRATIC PROGRAMMING; RECURRENT NEURAL NETWORKS; ROBOT PROGRAMMING; ROBOTS; SPACE FLIGHT;

DYNAMICS UNCERTAINTIES; EXTERNAL PERTURBATIONS; FORCES DISTRIBUTION; KINEMATICS AND DYNAMICS; MULTI-LEGGED ROBOTS; NON-LINEAR CONSTRAINTS; OPTIMAL DISTRIBUTIONS; QUADRATIC PROGRAMMING PROBLEMS;

FUZZY CONTROL;

EID: 84969983994     PISSN: 21682216     EISSN: 21682232     Source Type: Journal    
DOI: 10.1109/TSMC.2015.2422267     Document Type: Article

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