In this thesis work an intelligent controller based on a gait synthesizer for a hexapod robot used in rescue operations is developed. The gait synthesizer draws decisions from insect-inspired gait patterns to the changing needs of the terrain and that of rescue. It is composed of three modules responsible for selecting a new gait, evaluating the current gait, and modifying the recommended gait according to the internal reinforcements of past time steps. A Fuzzy Logic Controller is implemented in selecting the new gaits.
Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/1056860/index.pdf |
Date | 01 December 2003 |
Creators | Karalarli, Emre |
Contributors | Erkmen, Aydan |
Publisher | METU |
Source Sets | Middle East Technical Univ. |
Language | English |
Detected Language | English |
Type | M.S. Thesis |
Format | text/pdf |
Rights | To liberate the content for public access |
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