Name
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. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1007/978-3-540-85984-0_1 | ICIC (2) |
Keywords | Field | DocType |
dynamic control effect,flexible miniature robot system,miniature robot system,3-dof pneumatic rubber actuator,neural network,five-layer neural network controller,fuzzy wavelet basis neural,straight movement,inchworm-like movement,four-layer neural network,robot system,network controller,robot control system,robot control | Robotic systems,Control theory,Computer science,Fuzzy logic,Bending,Neural network controller,Robot control system,Artificial neural network,Wavelet,Actuator | Conference |
Volume | ISSN | Citations |
5227 | 0302-9743 | 0 |
PageRank | References | Authors |
0.34 | 10 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Lianzhi Yu | 1 | 0 | 0.68 |
| Guo-zheng Yan | 2 | 95 | 13.89 |
| Chunyang Wang | 3 | 13 | 7.27 |
| Wenlong Yang | 4 | 0 | 0.34 |
| Peng Zan | 5 | 0 | 1.69 |
| Jie Wu | 6 | 0 | 0.34 |