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    Item type:Publication,
    Optical Flow-Hermite and Fuzzy Q-Learning Based Robotic Navigation Approach
    (2021)
    Moya-Albor, Ernesto  
    ;
    Brieva, Jorge  
    ;
    Ponce, Hiram  
    ;
    Gomez-Coronel, Sandra L.
    The present paper presents a bio-inspired optical flow approach to autonomous robotics navigation. It uses a Fuzzy Q-Learning (FQL) method to take decisions in an unknown environment through a reinforcement signal. The proposed method was implemented in a virtual robotics system using the V-REP software and in communication con MATLAB. The preliminary results show that the robot was able to navigate successfully in unknown environments. © 2021 IEEE.
    Scopus© Citations 1  19  2
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    Modeling and Control Balance Design for a New Bio-inspired Four-Legged Robot
    (2019)
    Ponce, Hiram  
    ;
    Acevedo, Mario  
    ;
    Martinez-Villaseñor, Lourdes  
    ;
    Mayorga-Acosta, Carlos
    ;
    Díaz Ramos, Gabriel
    Bio-inspired robots have chosen to propose novel developments aiming to inhabit and interact complex and dynamic environments. Bio-inspired four-legged robots, typically inspired on animal locomotion, provide advantages on mobility, obstacle avoidance, energy efficiency and others. Balancing is a major challenge when legged robots require to move over uncertain and sharp terrains. It becomes of particular importance to solve other locomotion tasks such as walking, running or jumping. In this paper, we present a preliminary study on the modeling and control balance design of a bio-inspired four-legged robot for standing on its aligned legs in a straight line. The proposed robot is loosely inspired on the bio-mechanics of the chameleon. Thus, a mathematical modeling, simulation, intelligent control strategy, prototype implementation and preliminary results of control balance in our robot are presented and discussed. © Springer Nature Switzerland AG 2019.
    Scopus© Citations 4  18  2