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Application of multiple fuzzy-neuro force controllers in an unknown environment using genetic algorithms

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4 Author(s)
Kiguchi, Kazuo ; Dept. of Mech. Eng., Saga Univ., Japan ; Watanabe, K. ; Izumi, K. ; Fukuda, T.

This paper presents an effective force control method in which multiple fuzzy-neuro force controllers are suitably and automatically combined with a proper rate in accordance with the unknown dynamics of an environment. The optimal combination rate of the fuzzy-neuro force controllers according to the environment dynamics is defined online by a neural network which is off-line trained with genetic algorithms. The effectiveness of the proposed method has been evaluated by computer simulation

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:3 )

Date of Conference:

2000