Hierarchical Behavior Controller in Robotic Applications
In this chapter, we propose a new controller and a learning algorithm. Our system consists of several subcontrollers to indicate the desired trajectories for robot’s actuators. This algorithm selects the subcontroller which is not appropriate and needs to be tuned, by evaluating each subcontroller using multiple regression analysis based on previously obtained evaluation values. This can reduce the learning iterations by avoiding attempts to tune good subcontrollers. The proposed algorithm is applied to the problem of selecting and tuning subcontrollers at a middle layer in the hierarchical behavior controller in order to compensate imperfect initial controllers. The hierarchical behavior controller is applied to the problem of controlling a seven-link brachiation robot, which moves dynamically from branch to branch like a gibbon, a long-armed ape, swinging its body in a pendulum (Figure 1).
KeywordsFuzzy Rule Fuzzy Controller Feedback Controller Soft Computing Fuzzy Logic Controller
Unable to display preview. Download preview PDF.
- Fukuda, T., Saito, F., and Arai, F. (1991), “A Study on the Brachiation Type of Mobile Robot (Heuristic Creation of Driving Input and Control Using CMAC),” Proc. IEEE/RSJ Int. Workshop on Intelligent Robots and Systems, pp. 478–483.Google Scholar
- Shimojima, K., Fukuda, T., and Hasegawa, Y. (1995), “RBF-fuzzy system with GA based unsupervised learning methods,” Proc. 4th IEEE Int. Conf. on Fuzzy Systems/2nd Int. Fuzzy Engineering Symp. Fuzz-IEEE/IFES’95, Vol 1, pp. 253–25 8.Google Scholar
- Fukuda, T., Hasegawa, Y., Shimojima, K., and Saito, F. (1995), “Reinforcement Learning Method for Generating Fuzzy Controller,” Int. Conf. on Evolutionary Computation, Vol.!, pp.273–278.Google Scholar
- Fukuda, T., Hosokai, H., and Kondo, Y. (1991), `Brachiation Type of Mobile Robot,“ Proc. IEEE Int. Conf. Advanced Robotics, pp. 915–920.Google Scholar
- Spong, M.W. (1994), “Swing Up Control of the Acrobot,” Proc. IEEE Mt. Conf. on Robotics and Automation, pp. 2356–2361.Google Scholar
- Paul, R.P. (1981), Robot Manipulators,MIT Press, pp.157.Google Scholar