Alois Schacherbauer

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About

Alois Schacherbauer is a pioneer in the application of fuzzy logic to robotic control, with a particular focus on redundant manipulators and space robotics. His most influential work, "Fuzzy inverse kinematic mapping for a redundant robot" (1993, 5 citations), introduced novel methods for resolving the complex inverse kinematics of robots with more degrees of freedom than necessary, enabling smoother and more adaptable motion. This research was further developed in his 1992 report, "Fuzzy Control and Fuzzy Kinematic Mapping for a Redundant Space Robot" (3 citations), which documented key findings from the Self Mobile Space Manipulator (SM2) project at Carnegie Mellon University. In this work, Schacherbauer proposed innovative Fuzzy Logic Friction Compensation schemes that significantly improved the motion performance of SM2 by reducing both static and dynamic errors. His contributions demonstrate how soft computing techniques can effectively address the nonlinearities and uncertainties inherent in robotic systems, particularly in the demanding environment of space. Although his citation counts are modest, Schacherbauer's work represents an early and important bridge between fuzzy logic theory and practical robotic control.