Intelligent Control for Wall Climbing Robot

作     者：Jun Xiao~1,Hongguang Wang~2,Ning Xi~3 1.College of Information Science and Engineering,Northeastern University,China 110004 2.Shenyang Institute of Automation,Chinese academy of sciences,Shenyangl 10008,China 3.Michigan State University,Michigan State 48824,USA 

会议名称：《2009中国控制与决策会议》

会议日期：2009年

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by Liaoning Natural Science Funding 

关 键 词：climbing robot data fusion gait 

摘      要：正An intelligent control system is presented in this paper for a wall climbing *** the introduction of robot system design,a task reference method is proposed which is based on a fuzzy multi-sensor data fusion scheme. The method provides a novel mechanism to efficiently integrate task scheduling,action planning and motion control in a unified framework.A robot gait generation method is described which switches the robot locomotion between different motion modes with the help of a finite state machine driven by sensory *** results prove the validity of the proposed methods.