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An Application of Fuzzy State Automata:Motion Control of an Hexapod Walking Machine

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Bio-Inspired Applications of Connectionism (IWANN 2001)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2085))

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Abstract

This paper describes an application of Fuzzy State Automata to the motion control of an hexapod walking machine. Fuzzy State Automata are used as reference generators for each leg of the robot managing each phase of the step; moreover interaction between the automata allows leg coordination without a higher level controller. This example shows some interesting points of Fuzzy State Automata like parameter tuning, emptying abandoned states and coordination between automata.

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References

  1. L. Wang, “Adaptative Fuzzy Systems and Control”, Prentice Hall, Englewood Cliffs, New Jersey, 1994.

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  2. L.M. Reyneri, “An introduction to Fuzzy State Automata”, Proc. of IWANN 1997, pp. 273–283.

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  3. F. Berardi, M. Chiaberge, E. Miranda, L.M. Reyneri, “A Walking Hexapod Controlled by a Neuro-Fuzzy System”, Proc. of MCPA’ 97, Pisa (I), February 1997, pp. 95–104.

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  4. A. Comino, M. Grasso, “Controllo di robot esapode tramite logica fuzzy e realizzazione su DSP”, Master Thesis, Politecnico di Torino (I), December 1998.

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  5. D. Morano, “Controllo di un robot esapode per movimentazione su terreni impervi”, Master Thesis, Politecnico di Torino (I), December 2000.

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Author information

Authors and Affiliations

  1. Dipartimento di Elettronica, Politecnico di Torino, C.so Duca degli Abruzzi, 24 - 10129, Torino, ITALY

    D. Morano

  2. Dipartimento di Elettronica, Politecnico di Torino, C.so Duca degli Abruzzi, 24 - 10129, Torino, ITALY

    L. M. Reyneri

Authors
  1. D. Morano
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  2. L. M. Reyneri
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Editor information

Editors and Affiliations

  1. Departamento de Inteligencia Artificial, Universidad Nacional de Educación a Distancia, Senda del Rey, s/n., 28040, Madrid, Spain

    José Mira

  2. Departamento de Arquitectura y Tecnología de Computadores, Universidad de Granada, Campus Fuentenueva, 18071, Granada, Spain

    Alberto Prieto

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© 2001 Springer-Verlag Berlin Heidelberg

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Morano, D., Reyneri, L.M. (2001). An Application of Fuzzy State Automata:Motion Control of an Hexapod Walking Machine. In: Mira, J., Prieto, A. (eds) Bio-Inspired Applications of Connectionism. IWANN 2001. Lecture Notes in Computer Science, vol 2085. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45723-2_51

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  • DOI: https://doi.org/10.1007/3-540-45723-2_51

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42237-2

  • Online ISBN: 978-3-540-45723-7

  • eBook Packages: Springer Book Archive

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