Intelligent control for wall climbing robot

Abstract

An intelligent control system is presented in this paper for a wall climbing robot. After the introduction of robot system design, a task reference method is proposed which is based on a fuzzy multi-sensor data fusion scheme. The method provides a novel mechanism to efficiently integrate task scheduling, action planning and motion control in a unified framework. A robot gait generation method is described which switches the robot locomotion between different motion modes with the help of a finite state machine driven by sensory information. Experimental results prove the validity of the proposed methods.