TY - GEN
T1 - Modular robot locomotion based on a distributed fuzzy controller
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
AU - Baca, Jose
AU - Dasgupta, Prithviraj
AU - Hossain, S. G.M.
AU - Nelson, Carl
PY - 2013
Y1 - 2013
N2 - We describe a distributed and autonomous technique for dynamic gait adaptation for a chain-type, modular self-reconfigurable robot (MSR) using a fuzzy logic based, closed-loop controller. To maneuver itself, each module of the MSR is provided with a set of basic or fundamental gaits within a gait control table(GCT). A relevant problem in locomotion of a chain-type MSR is how to coordinate the gait of the individual modules with each other so that the desired locomotion of the MSR can be achieved. To address this problem, our proposed controller maps the inputs from the sensors of each module to an appropriate gait for the module determined from the goal and position of the module in the configuration, using a fuzzy technique. An inertial measurement unit (IMU) is used to close the loop between the goal and the module. We have verified the operation of our controller on a simulated 3-D model of an MSR called ModRED within the Webots robot simulator and also implemented it on the physical ModRED MSR. Our results illustrate that our controller can successfully adapt ModRED's locomotion by dynamically combining basic gaits from the individual modules in the configuration, regardless of the number of modules in the configuration and in the presence of noisy sensor inputs.
AB - We describe a distributed and autonomous technique for dynamic gait adaptation for a chain-type, modular self-reconfigurable robot (MSR) using a fuzzy logic based, closed-loop controller. To maneuver itself, each module of the MSR is provided with a set of basic or fundamental gaits within a gait control table(GCT). A relevant problem in locomotion of a chain-type MSR is how to coordinate the gait of the individual modules with each other so that the desired locomotion of the MSR can be achieved. To address this problem, our proposed controller maps the inputs from the sensors of each module to an appropriate gait for the module determined from the goal and position of the module in the configuration, using a fuzzy technique. An inertial measurement unit (IMU) is used to close the loop between the goal and the module. We have verified the operation of our controller on a simulated 3-D model of an MSR called ModRED within the Webots robot simulator and also implemented it on the physical ModRED MSR. Our results illustrate that our controller can successfully adapt ModRED's locomotion by dynamically combining basic gaits from the individual modules in the configuration, regardless of the number of modules in the configuration and in the presence of noisy sensor inputs.
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U2 - 10.1109/IROS.2013.6696973
DO - 10.1109/IROS.2013.6696973
M3 - Conference contribution
AN - SCOPUS:84893767488
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4302
EP - 4307
BT - IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -