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http://dx.doi.org/10.5302/J.ICROS.2004.10.9.755

Development of Intelligent Robot Control Technology By Electroocculogram Analysis  

Kim Chang-Hyun (한국과학기술원 전자전산학과)
Lee Ju-Jang (한국과학기술원 전자전산학과)
Kim Min-Soeng (한국과학기술원 전자전산학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.9, 2004 , pp. 755-762 More about this Journal
Abstract
In this research, EOG(Electrooculogram) signal was analyzed to predict the subject's intention using a fuzzy classifier. The fuzzy classifier is built automatically using the EOG data and evolutionary algorithms. An assistant robot manipulator in redundant configuration has been developed, which operates according to the EOG signal classification results. For automatic fuzzy model construction without any experts' knowledge, an evolutionary algorithm with the new representation scheme, design of adequate fitness function and evolutionary operators, is proposed. The proposed evolutionary algorithm can optimize the number of fuzzy rules, the number of fuzzy membership functions, parameter values for the each membership functions, and parameter values for the consequent parts. It is shown that the fuzzy classifier built by the proposed algorithm can classify the EOG data efficiently. Intelligent motion planner that consists of several neural networks are used for control of robot manipulator based upon EOG classification results.
Keywords
electrooculogram; fuzzy model; evolutionary algorithm; intelligent control; redundant robot manipulator;
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