Evolutionary design of Sugeno-type fuzzy systems for modelling humanoid robots
- Authors
- Kim, Dong W.; de Silva, Clarence W.; Park, Gwi-Tae
- Issue Date
- 2010
- Publisher
- TAYLOR & FRANCIS LTD
- Keywords
- evolutionary design; Sugeno-type fuzzy system; humanoid robots
- Citation
- INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, v.41, no.7, pp.875 - 888
- Indexed
- SCIE
SCOPUS
- Journal Title
- INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
- Volume
- 41
- Number
- 7
- Start Page
- 875
- End Page
- 888
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/118530
- DOI
- 10.1080/00207720903474314
- ISSN
- 0020-7721
- Abstract
- An evolutionary design of Sugeno-type fuzzy systems for modelling humanoid robots is presented in this article, and issues related to the determination of the antecedent and consequent structures of the fuzzy model are addressed. In the design of the fuzzy model, determination of the type, the number of membership functions assigned to the input variables, the types of consequent equations for the fuzzy rules, the optimal number of input variables, and the dominant input variables among the input candidates are carried out using evolutionary algorithms. Using these algorithms, proper structures are evolved for the antecedent and the consequent of the Sugeno-type fuzzy model. Simulations are performed to show the effectiveness of the developed method when applied to a humanoid robot system with strong nonlinearities that have 10 input candidates.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - College of Engineering > School of Electrical Engineering > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.