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Experimental results of robotic excavation using fuzzy behavior control
Experimental results of robotic excavation based on fuzzy behavior programs are presented. A robotic excavation goal is achieved through several excavation tasks, while a task is completed through sequences of excavation behaviors carried out by an ordered application of primitive, machine-executable excavation actions. Both tasks and behaviors are specified by finite state machines (FSM) that define all feasible sequences of behaviors or actions. Behavior selection for state transitions in a task FSM is achieved through situation assessment and behavior arbitration. For a behavior FSM, a method of terminating a behavior execution based on the activation levels of its actions is proposed. Since it is almost impossible to infer the exact status of bucket/environment interaction from force/torque data, excavation actions are specified using fuzzy logic rules acquired from human experience and heuristics. Experimental results indicate that the proposed formulation has led to a more efficient execution of excavation tasks than a previous formulation.
Experimental results of robotic excavation using fuzzy behavior control
Experimental results of robotic excavation based on fuzzy behavior programs are presented. A robotic excavation goal is achieved through several excavation tasks, while a task is completed through sequences of excavation behaviors carried out by an ordered application of primitive, machine-executable excavation actions. Both tasks and behaviors are specified by finite state machines (FSM) that define all feasible sequences of behaviors or actions. Behavior selection for state transitions in a task FSM is achieved through situation assessment and behavior arbitration. For a behavior FSM, a method of terminating a behavior execution based on the activation levels of its actions is proposed. Since it is almost impossible to infer the exact status of bucket/environment interaction from force/torque data, excavation actions are specified using fuzzy logic rules acquired from human experience and heuristics. Experimental results indicate that the proposed formulation has led to a more efficient execution of excavation tasks than a previous formulation.
Experimental results of robotic excavation using fuzzy behavior control
Versuchsergebnisse zur Fuzzy-Regelung eines Roboterbaggers
Shi, Xiaobo (author) / Wang, Fei-Yue (author) / Lever, P.J.A. (author)
Control Engineering Practice ; 4 ; 145-152
1996
8 Seiten, 15 Bilder, 13 Quellen
Article (Journal)
English
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