FACL Based 3D Grasping Controller for a Snake Robot During Locomotion

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 environmental conditions are considered online by a genetic algorithm based evaluator, which evaluates the feasibility of behaviors suggested by the high level controller and modify them. Our approach is demonstrated on the simulation of our modular 12 link snake robot