Abstract
This paper described the structure of a flexible miniature robot system which can move in human cavities, it makes inchworm-like movement driven by a 3-DOF pneumatic rubber actuator and holds its positions by air chambers. The driving characteristics in axial and bending directions of the actuator were analyzed and the robot control system was designed. The four-layer neural network and the five-layer neural network controllers were proposed to estimate the straight movement and the bending movement respectively. The tracking response and the tracking errors were studied in detail. Results prove that good static and dynamic control effects of the robot system can be obtained by the proposed fuzzy wavelet basis neural networks.
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© 2008 Springer-Verlag Berlin Heidelberg
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Yu, L., Yan, G., Wang, C., Yang, W., Zan, P., Wu, J. (2008). A Miniature Robot System with Fuzzy Wavelet Basis Neural Network Controller. In: Huang, DS., Wunsch, D.C., Levine, D.S., Jo, KH. (eds) Advanced Intelligent Computing Theories and Applications. With Aspects of Artificial Intelligence. ICIC 2008. Lecture Notes in Computer Science(), vol 5227. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-85984-0_1
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DOI: https://doi.org/10.1007/978-3-540-85984-0_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-85983-3
Online ISBN: 978-3-540-85984-0
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