Achille Melingui

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One of the challenges of Autonomous Systems navigating in real world is to deal with the large amounts of uncertainties which are inherent in such environment while maintaining stability. Higher order Fuzzy Logic Systems (FLS), such as Interval Type-2 Fuzzy Logic Systems (IT2FLS), that use type-2 fuzzy sets, can model and handle such uncertainties, and give(More)
This paper addresses the forward kinematic model of a class of hyper-redundant continuum robot, namely Compact Bionic Handling Assistant (CBHA). Inspired from the elephant trunk, it can reproduce some biological behaviors of trunks, tentacles, or snakes. Such systems, like the CBHA are subjected to a set of nonlinearities (flexibility, elasticity,(More)
This paper presents a development of Inverse Kinematic Model (IKM) of a class of Continuum Bionic Handling Arm (CBHA). The modeling approach is inspired from a model of a hyper-redundant backbone-based manipulator, combined with an optimal placement of the backbones. The latter is obtained using an optimization algorithm, based on a Sequential Quadratic(More)
This paper addresses the forward kinematic model (FKM) of a continuum manipulator, namely the Compact Bionic Handling Assistant (CBHA). This model is an essential step in the design of an autonomous robot control. The CBHA is considered as a concatenation of three degrees of freedom (DoF) parallel robot with 3UPS-1UP (Universal-Prismatic-Spherical) joint(More)
Compact Bionic Handling Assistant (CBHA) is a continuum manipulator, with pneumatic-based actuation and compliant gripper. This bionic arm is attached to a mobile robot named Robotino. Inspired by the elephant's trunk, it can reproduce biological behaviors of trunks, tentacles, or snakes. Unlike rigid link robot manipulators, the development of high(More)
Recent works in fuzzy logic systems (FLSs) have demonstrated the superiority of the higher order FLSs (type-2 FLs) compared to their traditional counterparts (Type-1 FLS) in terms of handling uncertainties. However, due to the complexity and the huge computational time of the type-reduction process, their applications in real-time is limited to simple(More)
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