Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of Intelligent Robot Control Technology By Electroocculogram Analysis

안전도 신호 분석을 통한 지능형 로봇 제어 기법의 개발

  • 김창현 (한국과학기술원 전자전산학과) ;
  • 이주장 (한국과학기술원 전자전산학과) ;
  • 김민성 (한국과학기술원 전자전산학과)
  • Published : 2004.09.01
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Abstract

In this research, EOG(Electrooculogram) signal was analyzed to predict the subject's intention using a fuzzy classifier. The fuzzy classifier is built automatically using the EOG data and evolutionary algorithms. An assistant robot manipulator in redundant configuration has been developed, which operates according to the EOG signal classification results. For automatic fuzzy model construction without any experts' knowledge, an evolutionary algorithm with the new representation scheme, design of adequate fitness function and evolutionary operators, is proposed. The proposed evolutionary algorithm can optimize the number of fuzzy rules, the number of fuzzy membership functions, parameter values for the each membership functions, and parameter values for the consequent parts. It is shown that the fuzzy classifier built by the proposed algorithm can classify the EOG data efficiently. Intelligent motion planner that consists of several neural networks are used for control of robot manipulator based upon EOG classification results.

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References

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