Assisting humans in collaborative tasks is a promising application for robots, however effective assistance remains challenging. In this paper, we propose method providing intuitive robotic based on learning from human natural limb coordination. To encode coupling between multiple-limb motions, use novel interval type-2 (IT2) polynomial fuzzy inference modeling trajectory adaptation. The associ...

Mamdani fuzzy models have always been used as black-box models. Their structures in relation to the conventional model structures are unknown. Moreover, there exist no theoretical methods for rigorously judging model stability and validity. I attempt to provide solutions to these issues for a general class of fuzzy models. They use arbitrary continuous input fuzzy sets, arbitrary fuzzy rules, a...

The problem of static output feedback control design for continuous-time TakagiSugeno (T–S) fuzzy systems is addressed in this paper. The membership functions are modeled in a space defined by the Cartesian product of simplexes, called multi-simplex, and are allowed to vary arbitrarily (i.e. no bounds on the time-derivative of the membership functions are assumed). The static output feedback fu...

This paper presents an evolutionary learning process for linguistic modeling with weighted double-consequent fuzzy rules. These kinds of fuzzy rules are used to improve the linguistic modeling, with the aim of introducing a trade-off between interpretability and precision. The use of weighted double-consequent fuzzy rules makes more complex the modeling and learning process, increasing the solu...