Evolving Fuzzy Logic Controllers for Sony Legged Robots

This paper presents an evolutionary approach to learning a fuzzy logic controller(FLC) employed for reactive behaviour control of Sony legged robots. The learning scheme is divided into two stages. The first stage is a structure learning in which the rule base of FLC is generated by a backup updating learning. The second stage is a parameter learning in which the parameters of membership functions of fuzzy sets are learned by a genetic algorithm (GA). Simulation results are provided to show the effectiveness of the proposed learning scheme.

• Type: Conference
• Year: 2001
• Where: ROBOCUP
• Authors: Dongbing Gu, Huosheng Hu
• Keywords: Backup Updating Learning, Learning Scheme, ROBOCUP 2001, Robotics, Sony Legged Robots