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- Title
基于模糊推理的复杂地形下六足机器人步态辅助决策方法.
- Authors
尤波; 王明磊; 许家忠; 李佳钰; 丁亮; 高海波
- Abstract
The drivers of manned hexapod robots rely on subjective experience in decision-making in complex terrain. In order to improve the quality of driver’ s decision-making,an auxiliary decision-making method is proposed. The information processing model of drivers is established,and the terrain is used as the decision factor while the priorities of gaits as the result. The fuzzy decision-making system is established to assist the drivers. The slope,fluctuation,roughness and barrier height are defined as the terrain features,degrees of membership are classified and the fuzzy rules are formulated. The semi-physical simulation platform of the hexapod manipulation is used to compare the decision results of the drivers with auxiliary and without auxiliary. The experimental results show that the auxiliary decision method can assist the driver to make reasonable decisions when the terrain changes,and increase stability and maneuverability of the hexapod robot in complex terrain.
- Subjects
INFORMATION processing; INFORMATION modeling; FUZZY systems; DECISION making; ALTITUDES; MOBILE robots
- Publication
Journal of Harbin University of Science & Technology, 2020, Vol 25, Issue 1, p100
- ISSN
1007-2683
- Publication type
Article
- DOI
10.15938/j.jhust.2020.01.015