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Fuzzy Behavior Integration and Action Fusion for Robotic Excavation
X. B. Shi; Paul J. A. Lever; F. Y. Wang
1996
发表期刊IEEE Transactions on Industrial Electronics
卷号43期号:3页码:395-402
摘要This 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.
关键词Robotic Excavation
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/14889
专题09年以前成果
推荐引用方式
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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