AN OPTIMIZATION ALGORITHM OF FUZZY RULES FOR QUADRUPED WALKING ROBOT
WANG Xuemin1, CHENG Junshi1, TIE Jincheng2, CHEN Jiapin1
1. Information Storage Research Center, Shanghai Jiaotong University, Shanghai 200030; 2. Department of Automation, Shanghai Jiaotong University, Shanghai 200030
Abstract: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.
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