한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1997년도 춘계학술대회 논문집
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- Pages.761-765
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- 1997
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- 2005-8446(pISSN)
유니사이클 로봇의 주행경로를 변경하기 위한 퍼지룰의 구성
초록
Our study of rider's postulator stability and tracking control on a unicycle began form the observation of a human riding. The system including unicycle and human operationg his unicycle is a fuzzy intelligent biomechanical model on basis of instinct and intuition search mechanisms. We proposed a robotic unicycle with one wheel and one body as a basic mode and derived equation of motion to this model. Our works is in making out fuzzy look-up table to control robotic unicycle. Fuzzy look-up table were determined for staight line and curve under reasonable inference emulating human's instinct and intuition riding a unicyale. Simulation results show that postulator stability and tracking control on both straight line and curve were successful by using proposed each fuzzy look-up table.
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