A snake-like robot for variable friction unstructured terrains, pushing aside debris in clearing passages

Date

2007-11-02

Author

Caglav, Engin
Erkmen, Aydan Müşerref
Erkmen, İsmet

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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In this paper we design and implement a 2D coupled mobility snake/caterpillar vehicle for terrains with variable friction. A control hierarchy made of fuzzy logic controllers equipped with fuzzy actor critic learning (FACL) enables the robot to adapt itself to variable friction conditions of unknown, unstructured environments as well as the need for task changes in those environments such pushing aside a debris for its removal from the navigation site, during locomotion.

Subject Keywords

Debris push, Evacuating passages, FACL, SAR robots

URI

https://hdl.handle.net/11511/37252

DOI

https://doi.org/10.1109/iros.2007.4399427

Conference Name

IEEE/RSJ International Conference on Intelligent Robots and Systems

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

E. Caglav, A. M. Erkmen, and İ. Erkmen, “A snake-like robot for variable friction unstructured terrains, pushing aside debris in clearing passages,” presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, 2007, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/37252.