Evrim Onur Ari

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In this paper, a distributed intelligent fuzzy learning controller architecture is developed for a snake robot to avoid obstacles while reaching a target, in a dynamic environment. Moreover, in order to use the robot in object carrying search and rescue (SAR) applications, a grasping scheme of desired objects is added to the abilities of the controller.(More)
In this paper, we develop a distributed intelligent fuzzy learning controller for serpentine locomotion while doing lasso-type grasping in 3D environments. The novelty of our approach is not only in the control modularity but on a lasso type grasping having as a moving base the remaining snake links undergoing serpentine gait. Dynamical constraints due to(More)
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