FACL Based 3D Grasping Controller for a Snake Robot During Locomotion

机译：基于FACL基于Snake机器人的3D抓握控制器

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In this paper, we develop a distributed intelligent fuzzy learning controller for serpentine locomotion while doing lasso-type grasping in 3D environments. The novelty of our approach is not only in the control modularity but on a lasso type grasping having as a moving base the remaining snake links undergoing serpentine gait. Dynamical constraints due to environmental conditions are considered online by a genetic algorithm based evaluator, which evaluates the feasibility of behaviors suggested by the high level controller and modify them. Our approach is demonstrated on the simulation of our modular 12 link snake robot.

机译：在本文中，我们为蛇形机置开发了一种分布式智能模糊学习控制器，同时在3D环境中进行套索型抓斗。我们的方法的新颖性不仅在控制模块化中，而且在套索型上抓握，其具有移动基座，其余的蛇链接正在进行蛇形步态。由于环境条件引起的动态约束是由基于遗传算法的评估器在线在线考虑，该评估器评估高级控制器建议的行为的可行性并修改它们。我们的方法在模拟我们模块化的12个环节蛇机器人的模拟上进行了说明。

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《IEEE/RSJ International Conference on Intelligent Robots and Systems》|2006年||共6页
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Evrim Onur Ari; Ismet Erkmen; Aydan M. Erkmen; The Institute of Electrical and Electronics Engineers Inc.;
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中图分类 TP242.6-53;
关键词
snake robots; biologically inspired robots; search and rescue robotics; lasso-type grasping; FACL;

机译：蛇机器人;生物启发机器人;搜索和救援机器人;套索型抓;FACL;

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1. Triple-layered central pattern generator-based controller for 3D locomotion control of snake-like robots [J] . Qiao Guifang, Zhang Ying, Wen Xiulan, International Journal of Advanced Robotic Systems . 2017,第6期

机译：基于三层中央图案生成器的控制器，用于蛇形机器人的3D运动控制
2. Locomotion of 3D Snake-Like Robots – Shifting and Rolling Control of Active Cord Mechanism ACM-R3 – [J] . Makoto Mori, Shigeo Hirose Journal of robotics and mechatronics . 2006,第5期

机译：3D蛇状机器人的运动–主动绳索机构ACM-R3的移动和滚动控制–
3. A controllability criterion based on a physical analogy: Limbless locomotion and Object grasping in Robotics [J] . Zeki Y. Bayraktaroglu, Pierre Blazevic Robotica . 2004,第Pt5期

机译：基于物理类比的可控性标准：机器人中的无肢运动和物体抓取
4. FACL Based 3D Grasping Controller for a Snake Robot During Locomotion [C] . Evrim Onur Ari, Ismet Erkmen, Aydan M. Erkmen, IEEE/RSJ International Conference on Intelligent Robots and Systems . 2006

机译：基于FACL基于Snake机器人的3D抓握控制器
5. Additive Manufacturing of Compliant Mechanisms and Stretchable Sensors for Sensation, Grasping, and Locomotion in Soft Robotic Systems [D] . ?O'Brien, Kevin W. 2020

机译：柔软机器人系统中的柔性机构和可拉伸传感器的添加剂制造和柔软机器人系统的运动
6. Event-Based Robotic Grasping Detection With Neuromorphic Vision Sensor and Event-Grasping Dataset [O] . Bin Li, Hu Cao, Zhongnan Qu, 2020

机译：基于事件的机器人掌握检测与神经胸视觉传感器和事件 - 掌握数据集
7. Triple-layered central pattern generator-based controller for 3D locomotion control of snake-like robots [O] . Guifang Qiao, Ying Zhang, Xiulan Wen, 2017

机译：基于三层中央图案生成器的3D运动器控制器控制器般的机器人控制
8. Neural Network Grasping Controller for Continuum Robots [R] . Braganza, D. , Dawson, D. M. , Walker, I. D. , 2006

机译：连续机器人神经网络抓取控制器

FACL Based 3D Grasping Controller for a Snake Robot During Locomotion

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