CASIA OpenIR  > 09年以前成果
Fuzzy Behavior Integration and Action Fusion for Robotic Excavation
X. B. Shi; Paul J. A. Lever; F. Y. Wang
Source PublicationIEEE Transactions on Industrial Electronics
1996
Volume43Issue:3Pages:395-402
AbstractThis paper discusses control behavior integration
and bucket action fusion for excavation control of a robotic
front-end-loader type machine. To utilize the experience and
expertise from skilled human operators, a fuzzy-logic based
control approach is developed. A hierarchical excavation control
architecture decomposes excavation goals to tasks, then tasks
to behaviors, and finally behaviors to actions. The excavation
actions are primitive and can be executed directly by an excavation
machine. Finite state machines are used to specify the
coordination and integration of behaviors for task execution
and actions for behavior implementation. A simple strategy for
action fusion is proposed based on fuzzy logic reasoning and the
COA defuzzification method. Finally, laboratory experiments are
conducted using a PUMA 560 robot arm and a Zebra forcdtorque
sensor in a simulated rock excavation environment. Experimental
results indicate that the proposed approach in this paper has led
to more efficient task execution than our previous approach.
KeywordRobotic Excavation
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/14889
Collection09年以前成果
Recommended Citation
GB/T 7714
X. B. Shi,Paul J. A. Lever,F. Y. Wang. Fuzzy Behavior Integration and Action Fusion for Robotic Excavation[J]. IEEE Transactions on Industrial Electronics,1996,43(3):395-402.
APA X. B. Shi,Paul J. A. Lever,&F. Y. Wang.(1996).Fuzzy Behavior Integration and Action Fusion for Robotic Excavation.IEEE Transactions on Industrial Electronics,43(3),395-402.
MLA X. B. Shi,et al."Fuzzy Behavior Integration and Action Fusion for Robotic Excavation".IEEE Transactions on Industrial Electronics 43.3(1996):395-402.
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