A Fuzzy Behavior-Based Control System for Manipulation

Z. Wasik and A. Saffiotti

Behavior-based approaches to robot control are extremely popular in mobile robotics, but still rarely used for manipulation. We propose a behavior-based system that performs manipulation tasks using visual feedback. The distinctive points of our proposal are: (i) visual behaviors are implemented using a new camera-based approach; (ii) reactive fuzzy rules are used to arbitrate behaviors; and (iii) the outputs of concurrent behaviors are fused using fuzzy logic. We show experiments on a real arm performing a pick-and-place task that illustrate our approach and demonstrate its advantages over current approaches.
Z. Wasik and A. Saffiotti. A Fuzzy Behavior-Based Control System for Manipulation. Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) pp. 1596-1601. Lausanne, CH, 2002.
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