Adaptive control for a climbing robot to transit between differently inclined surfaces

In this paper, a FNN-based adaptive control system for a miniature climbing robot is presented. The main components of the system include a multi-sensor data fusion model and a FNN-based adaptive controller, which consists of a five-layer FNN, a fuzzy-rule base and an adaptive gait sequence generator. By this control system, the robot can autonomously generate proper gait and control itself to transit between two differently inclined surfaces. The properties of the FNN-based adaptive control system are verified by the computer simulations