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Genetic algorithm based design of fuzzy motion controllers for the Brachiation mobile robot

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2 Author(s)
Vlad, O.P. ; Nagoya Univ., Japan ; Fukuda, T.

In this paper a genetic algorithm based design method for Takagi-Sugeno (TS) type fuzzy motion controllers is proposed. The parameters of both the antecedent and the consequent part of the fuzzy rules are obtained in the same time, using an improved simple genetic algorithm (ISGA). The controllers are aimed to ensure the locomotion of a Brachiation mobile robot (BMR).

Published in:

SICE 2003 Annual Conference  (Volume:1 )

Date of Conference:

4-6 Aug. 2003