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

Authors:
Daniele Morano;Leonardo Maria Reyneri
Affiliations:
-;-
Venue:
IWANN '01 Proceedings of the 6th International Work-Conference on Artificial and Natural Neural Networks: Bio-inspired Applications of Connectionism-Part II
Year:
2001

Citing 2
Cited 0

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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 paramete tuning, emptying abandoned states and coordination between automata.