四足步行机器人模糊规则优化算法  

AN OPTIMIZATION ALGORITHM OF FUZZY RULES FOR QUADRUPED WALKING ROBOT

作　　者：王学敏[1,2] 程君实[1,2] 铁锦程 陈佳品[1,2] 

机构地区：[1]上海交通大学信息存贮研究中心 [2]上海交通大学自动化系

出　　处：《机器人》1997年第5期360-364,共5页Robot

基　　金：国家自然科学基金

摘　　要：针对四足步行机器人等多变量系统模糊规则数目过多的问题，提出了一种基于神经网络中Ｋｏｈｏｎｅｎ自组织映射的优化算法．从大量原始模糊规则中迭代辨识出模糊关系，并利用Ｋｏｈｏｎｅｎ网络对其进行聚类变换，最后得到优化了的模糊规则．In this paper, an optimization algorithm, which is based on the self organizing mapping of Kohonen's model, is proposed and applied to solve the problem that the fuzzy control rules of quadruped walking robot and other complex multivariable systems are too many. The fuzzy relation is identified from original fuzzy rules, furthermore, it is clustered by using Kohonen's network in order to optimize the fuzzy rules. The effectiveness of the algorithm is demonstrated by the simulation results.

关 键 词：四足瞳行机器人 模糊规则 模糊关系 算法 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]