The paper describes results obtained in the development of adaptive fuzzy-neural navigation subsystem for mobile legged robot. In order to keep the motion sufficiently smooth, free of sharp turnings and transversal sw...The paper describes results obtained in the development of adaptive fuzzy-neural navigation subsystem for mobile legged robot. In order to keep the motion sufficiently smooth, free of sharp turnings and transversal swings when moving between closely located obstacles, fuzzy rules are updated on-line. To this end, the fuzzy rules are expressed through a layered feed-forward neural network and parameters are updated on line in two steps--the rough and fine updating. That is followed by the description of the learning fault diagnosis using binary neural network based on the Carpenter and Grossbergs＇ adaptive resonance theory.展开更多
There are many robotic platforms usable in the educational process. In the introduction, some of the educational platforms are presented. The main body of this paper deals with educational robotic platform iRobot Crea...There are many robotic platforms usable in the educational process. In the introduction, some of the educational platforms are presented. The main body of this paper deals with educational robotic platform iRobot Create. In this paper, main parts of this platform are described, such as mechanics, sensors and actuators. The software equipment with communication protocol of this platform is also described. The results of the analysis of this platform show its rich possibilities in its use in educational process such as mechanics, electronics and algorithms used in robotics.展开更多
文摘The paper describes results obtained in the development of adaptive fuzzy-neural navigation subsystem for mobile legged robot. In order to keep the motion sufficiently smooth, free of sharp turnings and transversal swings when moving between closely located obstacles, fuzzy rules are updated on-line. To this end, the fuzzy rules are expressed through a layered feed-forward neural network and parameters are updated on line in two steps--the rough and fine updating. That is followed by the description of the learning fault diagnosis using binary neural network based on the Carpenter and Grossbergs＇ adaptive resonance theory.
文摘There are many robotic platforms usable in the educational process. In the introduction, some of the educational platforms are presented. The main body of this paper deals with educational robotic platform iRobot Create. In this paper, main parts of this platform are described, such as mechanics, sensors and actuators. The software equipment with communication protocol of this platform is also described. The results of the analysis of this platform show its rich possibilities in its use in educational process such as mechanics, electronics and algorithms used in robotics.
