Fuzzy controller for cooperative object pushing with variable line contact

Mahsa Aliakbar Golkar; Sarah Taghavi Namin; Hossein Aminaiee

doi:10.1109/ICMECH.2009.4957172

Fuzzy controller for cooperative object pushing with variable line contact

Mahsa Aliakbar Golkar, Sarah Taghavi Namin, Hossein Aminaiee

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Citations (Scopus)

Abstract

Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular Fuzzy Inference System independently. The fuzzy controllers' outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.

Original language	English
Title of host publication	IEEE 2009 International Conference on Mechatronics, ICM 2009
DOIs	https://doi.org/10.1109/ICMECH.2009.4957172
Publication status	Published - 2009
Externally published	Yes
Event	IEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Spain Duration: 14 Apr 2009 → 17 Apr 2009

Publication series

Name	IEEE 2009 International Conference on Mechatronics, ICM 2009

Conference

Conference	IEEE 2009 International Conference on Mechatronics, ICM 2009
Country/Territory	Spain
City	Malaga
Period	14/04/09 → 17/04/09

Access to Document

10.1109/ICMECH.2009.4957172

Cite this

@inproceedings{e4bf601eec9d4cb49d03686ed8f092f0,

title = "Fuzzy controller for cooperative object pushing with variable line contact",

abstract = "Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular Fuzzy Inference System independently. The fuzzy controllers' outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.",

author = "Golkar, {Mahsa Aliakbar} and Namin, {Sarah Taghavi} and Hossein Aminaiee",

year = "2009",

doi = "10.1109/ICMECH.2009.4957172",

language = "English",

isbn = "9781424441952",

series = "IEEE 2009 International Conference on Mechatronics, ICM 2009",

booktitle = "IEEE 2009 International Conference on Mechatronics, ICM 2009",

note = "IEEE 2009 International Conference on Mechatronics, ICM 2009 ; Conference date: 14-04-2009 Through 17-04-2009",

}

Golkar, MA, Namin, ST & Aminaiee, H 2009, Fuzzy controller for cooperative object pushing with variable line contact. in IEEE 2009 International Conference on Mechatronics, ICM 2009., 4957172, IEEE 2009 International Conference on Mechatronics, ICM 2009, IEEE 2009 International Conference on Mechatronics, ICM 2009, Malaga, Spain, 14/04/09. https://doi.org/10.1109/ICMECH.2009.4957172

Fuzzy controller for cooperative object pushing with variable line contact. / Golkar, Mahsa Aliakbar; Namin, Sarah Taghavi; Aminaiee, Hossein.
IEEE 2009 International Conference on Mechatronics, ICM 2009. 2009. 4957172 (IEEE 2009 International Conference on Mechatronics, ICM 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Fuzzy controller for cooperative object pushing with variable line contact

AU - Golkar, Mahsa Aliakbar

AU - Namin, Sarah Taghavi

AU - Aminaiee, Hossein

PY - 2009

Y1 - 2009

N2 - Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular Fuzzy Inference System independently. The fuzzy controllers' outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.

AB - Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular Fuzzy Inference System independently. The fuzzy controllers' outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.

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U2 - 10.1109/ICMECH.2009.4957172

DO - 10.1109/ICMECH.2009.4957172

M3 - Conference contribution

SN - 9781424441952

T3 - IEEE 2009 International Conference on Mechatronics, ICM 2009

BT - IEEE 2009 International Conference on Mechatronics, ICM 2009

T2 - IEEE 2009 International Conference on Mechatronics, ICM 2009

Y2 - 14 April 2009 through 17 April 2009

ER -

Fuzzy controller for cooperative object pushing with variable line contact

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