Learning in a neuro-fuzzy navigator for robotic manipulators

Kaspar Althoefer; Lrkmal Seneviratne; Bart Krekelberg

doi:10.1109/ICONIP.1999.844012

Learning in a neuro-fuzzy navigator for robotic manipulators

Kaspar Althoefer, Lrkmal Seneviratne, Bart Krekelberg

Mechanical & Nuclear Engineering

King's College London

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Presents a fuzzy-based navigation system for robotic manipulators. The fuzzy rules combine a repelling influence, related to the distance between the manipulator and nearby obstacles, with an attracting influence produced by the angular difference between the actual and final manipulator configurations, in order to generate the actuating motor commands. The use of fuzzy logic leads to a transparent system that can be tuned by hand or by a learning algorithm. The proposed learning algorithm can be adapted to the particular requirements of a given manipulator, as well as to the environment it operates in. The navigation method has been successfully applied to robot arms in different environments, giving encouraging results.

Original language	British English
Title of host publication	ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	347-352
Number of pages	6
ISBN (Electronic)	0780358716, 9780780358713
DOIs	https://doi.org/10.1109/ICONIP.1999.844012
State	Published - 1999
Event	6th International Conference on Neural Information Processing, ICONIP 1999 - Perth, Australia Duration: 16 Nov 1999 → 20 Nov 1999

Publication series

Name	ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings
Volume	1

Conference

Conference	6th International Conference on Neural Information Processing, ICONIP 1999
Country/Territory	Australia
City	Perth
Period	16/11/99 → 20/11/99

Access to Document

10.1109/ICONIP.1999.844012

Cite this

Althoefer, K., Seneviratne, L., & Krekelberg, B. (1999). Learning in a neuro-fuzzy navigator for robotic manipulators. In ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings (pp. 347-352). Article 844012 (ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings; Vol. 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICONIP.1999.844012

Althoefer, Kaspar ; Seneviratne, Lrkmal ; Krekelberg, Bart. / Learning in a neuro-fuzzy navigator for robotic manipulators. ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings. Institute of Electrical and Electronics Engineers Inc., 1999. pp. 347-352 (ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings).

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title = "Learning in a neuro-fuzzy navigator for robotic manipulators",

abstract = "Presents a fuzzy-based navigation system for robotic manipulators. The fuzzy rules combine a repelling influence, related to the distance between the manipulator and nearby obstacles, with an attracting influence produced by the angular difference between the actual and final manipulator configurations, in order to generate the actuating motor commands. The use of fuzzy logic leads to a transparent system that can be tuned by hand or by a learning algorithm. The proposed learning algorithm can be adapted to the particular requirements of a given manipulator, as well as to the environment it operates in. The navigation method has been successfully applied to robot arms in different environments, giving encouraging results.",

author = "Kaspar Althoefer and Lrkmal Seneviratne and Bart Krekelberg",

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year = "1999",

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language = "British English",

series = "ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings",

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Althoefer, K, Seneviratne, L & Krekelberg, B 1999, Learning in a neuro-fuzzy navigator for robotic manipulators. in ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings., 844012, ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings, vol. 1, Institute of Electrical and Electronics Engineers Inc., pp. 347-352, 6th International Conference on Neural Information Processing, ICONIP 1999, Perth, Australia, 16/11/99. https://doi.org/10.1109/ICONIP.1999.844012

Learning in a neuro-fuzzy navigator for robotic manipulators. / Althoefer, Kaspar; Seneviratne, Lrkmal; Krekelberg, Bart.
ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings. Institute of Electrical and Electronics Engineers Inc., 1999. p. 347-352 844012 (ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Althoefer K, Seneviratne L, Krekelberg B. Learning in a neuro-fuzzy navigator for robotic manipulators. In ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings. Institute of Electrical and Electronics Engineers Inc. 1999. p. 347-352. 844012. (ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings). doi: 10.1109/ICONIP.1999.844012

Learning in a neuro-fuzzy navigator for robotic manipulators

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