Intelligent Control of a Small Climbing Robot

(*) Corresponding author

Authors' affiliations

DOI's assignment:
the author of the article can submit here a request for assignment of a DOI number to this resource!
Cost of the service: euros 10,00 (for a DOI)


In this paper, a fuzzy logic-based control system is proposed, which lays emphasis on the functionality of the system rather than developing a mathematical model. Applied to a climbing robot, it can achieve precise motion control along with power consumption minimization and produce versatile behaviors based effective computational method in behavior-based control paradigm to implement robot behaviors. Experimental results prove the validity of the proposed methods. The proposed fuzzy logic-based control scheme is capable to automatically change the stickiness of hands and feet based on surface slope of unsupervised systems, thus keeping the control of the motion at a predefined stable level. The effectiveness of the proposed approach is demonstrated through experimental results.
Copyright © 2013 Praise Worthy Prize - All rights reserved.


Climbing Robot; Behavior-Based Control; Fuzzy Logic Controller; PID Control; Pulse Width Modulation

Full Text:



A. J. P. Heck: Introduction to Maple, 2nd edition, Springer Verlag, 1996.

K.S. Fu, R.C. Gonzales and C.S.G. Lee, Robotics: Control, Sensing, Vision and Intelligence, 1987.

M. J. GonzA,lez-LApez and T. Recio: The ROMIN inverse geometric model and the dynamic evaluation method, A.M. Cohen, editor, Computer Algebra For Industry: Problem Solving in Practice, pages 117-141. JohnWiley and Sons, 1993.

Wall´en, J.On robot modeling using Maple. Technical Report LiTH-ISY-R-2723.Dept.Electr.Eng.,Link¨opingsuniversitet, Sweden, 2006.

Brock J. LaMeres, Design and implementation of a fuzzy logic based voltage controller for voltage regulation of a synchronous generator, Montana State University Bozeman, MT 59717.

D. Necsulescu, Mechatronics, Prentice Hall, 2000.

Jebelli, A., RuzairiAbdul Rahim “Intelligent exhaust fan controller system”, Progress in Process Tomography & Instrumentation System, Chapter 13, University Teknology, Malaysia, 2011.

Panda, D.,Ramanarayanan, V.,“Fuzzylogic based control of switched reluctance motor”, Int. Conf. on Signal Processing Applications and Technology, 1998.

Jebelli,A., Intelligent Exhaust Fan Controller System, University Technology Malaysia, 2009.

Wakami, N., Araki, S., Nomura, H., “Recent applications of fuzzy logic to homeappliances”, Int. Conf.IECON, 1993, pp. 155-160.

Lixin Wang, Adaptive Fuzzy System and Control, Guofang Industrial Press, Changsha, China, 1995.

Habibi,M., Tehrani, A.,Awouda, E.A., “Microcontroller-based fuzzy logic controller for a small Autonomous Underwater Robot”, Int. Review of Automatic Control, Vol.3, n.1, pp. 60-65, 2009.

Ronald C. Arkin, Behavior-Based Robotics, The MIT Press, 1998.

Occhipinti, L., Nunnari, G., Synthesis of a greenhouse climate controller using AI-based techniques, 8th Mediterranean Electrotechnical Conf., 1996, pp. 230-233.

Caponetto, R., Fortuna, L., Nunnari, G., Occhipinti, L., “A fuzzy approach to greenhouse climate control” Proceedings of the American Control Conference, 1998, vol.3, pp.1866-1870.

Jizhong Xiao, “Development of Miniature Climbing Robots --- Modeling, Control and Motion Planning”, Ph.D. dissertation, Dept. of Electrical and Computer Engineering, Michigan State University, 2002.

Jizhong Xiao, Hans Dulimarta, Ning Xi, R. LalTummala, Motion planning of a bipedal miniature crawling robot in hybrid configuration space”, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2002.


  • There are currently no refbacks.

Please send any question about this web site to
Copyright © 2005-2023 Praise Worthy Prize