Using hierarchical fuzzy behaviors for manipulation

• Behavior-based systems have become extremely popular in autonomous robotics. These systems are typically used to control robots with few degrees of fredom (DOF), like mobile platforms. We propose a behavior-based system able to control a complex plant with several DOF. The key to deal with complexity is the use of fuzzy logic techniques to compose simple behaviors into more complex ones. In this paper, we illustrate our approach on a 5 DOF real manipulator, on which several tasks are performed using the same set of basic behaviors.

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

Nyckelord

Datalogi

Computer and Systems Science

Publikations- och innehållstyp

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