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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ikeuchi, K., Yoshinaka, K., Hashimoto, S., Tomita, N.: Locomotion of Medical Micro Robot with Spiral Ribs Using Mucus. In: The 7th IEEE International Symposium on Micro Machine and Human Science, pp. 217–222. IEEE Press, Nagoya (1996)
Anthierens, C., Libersa, C., Touaibia, M., Betemps, M., Arsicault, M., Chaillet, N.: Micro Robots Dedicated to Small Diameter Canalization Exploration. In: 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 480–485. IEEE Press, Kagawa University (2000)
Yan, G.Z., Zuo, J.Y.: A Self-propelling Endoscope System by Squirmy Robot. In: 2003 International Symposium on Micromechatronics and Human Science, pp. 159–163. IEEE Press, Nagoya (2003)
Thomann, M., Betemps, R.T.: The Design of a New Type of Micro Robot for the Intestinal Inspection. In: 2002 IEEE International Workshop on Robot and Human Interactive communication, pp. 1385–1390. IEEE Press, Berlin (2002)
Lewis, F.L., Liu, K., Yesildirek: Neural Net Robot Controller with Guaranteed Tracking Performance. IEEE Trans. Neural Netw. 6, 703–715 (1995)
Leu, Y.G., Wang, W.Y., Lee, T.T.: Observer-Based Direct Adaptive Fuzzy-Neural Control for Nonaffine Nonlinear System. IEEE Trans. Neural Netw. 16(4), 853–861 (2005)
Pati, Y.C. and Krisshnaprasad, P.S.: Analysis and Synthesis of Feed-Forward Neural Networks Using Discrete Affine Wavelet Transformations. IEEE Trans. Neural Netw. 4, 73–85 (1993)
Ho, D.W.C., Li, J., Niu, Y.: Adaptive Neural Control for a Class of Nonlinearly Parametric Time Delayed System. IEEE Trans. Neural Netw. 16, 625–635 (2005)
Bilings, S.A., Wei, H.L.: A New Class of Wavelet Networks for Nonlinear System Identification. IEEE Trans. Neural Netw. 4, 862–874 (2005)
Hui, Y.L., Qiao, J.F.: Fuzzy Neural Network Control of Uncertain Parameters System. In: The 5th World Congress on Inteligent Control and Automation, Hongzhou, China, pp. 2612–2616 (2004)
Lin, F.J., Hsin-Jang, Huang, P.K.: Adaptive Wavelet Neural Network Control with Hysteresis Estimation for Piezo-positioning Mechanism. IEEE Trans. Neural Netw. 17, 432–444 (2006)
Yu, L.Z., Yan, G.Z., Zhang, W.Q., Wang, X.R.: Research on an Active and Continu-ous Monitoring System for Human Respiratory System. High Technology Letters 12, 68–71 (2006)
Yu, L.Z., Yan, G.Z., Wang, X.G.: A Soft Micro-Robot System for Direct Monitoring in Human Trachea. Robot 28, 269–274 (2006)
Chou, C.P., Hannaford, B.: Static and Dynamic Characteristics of Mckibben Pneumatic Artificial Muscles. In: 1994 IEEE Robotic and Automation Conference, pp. 281–286. IEEE Press, San Diego (1994)
Suzumori, K., Likura, S., Tanaka, H.: Applying a Flexible Microactuator to Robotic Mechanisms. In: 1991 IEEE International Conference on Robotic and Automation, pp. 22–27. IEEE Press, Sacramento (1991)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
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
Download citation
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
eBook Packages: Computer ScienceComputer Science (R0)