The document presents a project synopsis for a fuzzy-based self-transforming robot. It discusses how the robot can transform its shape according to obstacles in its path using a fuzzy logic system. Extensive simulations were carried out to validate the fuzzy system's performance. The robot is intended to navigate rough terrain and unpredictable environments. It reviews previous related work on shape-shifting robots and modular robots. The objectives are to develop the robot's mechanical structure and control system to achieve various locomotion modes. Advantages include adaptation and robustness, while a disadvantage is reduced performance compared to task-specific robots. Potential applications include construction, exploration, search and rescue.

1. PROJECT SYNOPSIS PRESENTATION
ON
FUZZY BASED SELF-TRANSFORMING ROBOT
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
SHRI RAMSWAROOP MEMORIAL GROUP OF PROFESSIONAL COLLEGES LUCKNOW
Affiliated to
Dr. A.P.J ABDUL KALAM TECHNICAL UNIVERSITY, LUCKNOW
Presented By Project Guide
Tabassum Parveen Prof. (Dr.) Indu Prabha singh
Anumodita Singh

2. INTRODUCTION
• Self-transforming robot transforms its shape according to the hindrance
occurring in the path of robot movement. Such robots have exhibit reliable
transformation according to the situations.
• The fuzzy system for the Self-transforming robot posses alteration in its original
shape to exhibit a human-like behaviour while passing over a particular location.
• Extensive simulations are carried out to validate the performance of the
proposed fuzzy system using LABVIEW.
• Arbitrary parameters such as distance, angle and orientation of the obstacles are
provided as input to the fuzzy system which gives the required speed modulation
the motoric module.
• Quadrupedal locomotion on rough terrain and unpredictable environments is still
a challenge, where the proposed system will provide the good adaptability in
rough terrain.
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3. WHAT IS FUZZY SYSTEM
• Fuzzy logic-a logical system which is much closer in spirit to human thinking and
natural language than traditional logical systems.
• The fuzzy logic analysis and control methods shown in Figure 1 can be described as:
Figure 1. The fuzzy logic Control-Analysis method
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4. LITERATURE REVIEW
1. YE Changlong et al.[1]
• The author proposed, a novel link-type modular robot, which can change its
shape, has been developed for potential application in urban search and rescue
(USAR) operation.
• A Robot used in the defence should be light-weighted and might have the
ability to travel through the minor spaces that the human cannot thinkable to
enter. This can be satisfied by the snake-like robot with slim body and has more
application for urban search and rescue (USAR).
• This robot keeps high mobility, light weight, shape-shifting corresponding to
the rough ground, but it lags in crossing the big obstacles.
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5. Figure-2 Shape of A—I I
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6. LITERATURE REVIEW
2. Nan Li et al.[2]
• The author proposed an online control method for the stair-climbing of a
transformable tracked robot, Amoeba-II, and this robot is also an isomerism-
modules robot with different mechanism modules.
• Based on the reasonable compartmentalization and kinematics analysis of the
stair-climbing process, the coordination of the rotations of modules can reduce
the slippage between tracks and terrain.
• To ensure that the robot can climb stairs with enough capability and stability,
the stair-climbing criterion for the robot has been established based on the force
analysis of each stage of the stair-climbing procedure.
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7. Figure-3 Stair-climbing experiment for Amoeba-II
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8. LITERATURE REVIEW
3. K.Tsuchiya et al. [3]
•The author proposed the locomotion control system for a biped locomotion robot.
The proposed control system is composed of motion generator system and motion
control system.
•Motion generator system is composed of nonlinear oscillators which generate the
commanded trajectories of the joints as functions of phases of oscillators. Motion
control system is composed of motors with controllers installed at joints which
control motions of joints.
•The oscillators tune the phases through the mutual interactions and the feedback
signals from the touch sensors at the taps of the legs. As a result, the robot with the
controller walks stably by changing its period of locomotion in a changing
environment..
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9. Figure-4 Schematic model of biped locomotion robot
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10. LITERATURE REVIEW
4. Zhiqing Li et al.[4]
• It is required that the robots should be able to move in the complex and
unpredictable environment where the ground might be soft and hard, even and
uneven.
• To access to such terrains, a novel robot (NEZA-I) with the self-adaptive mobile
mechanism is proposed and developed. It consists of a control system unit and
two symmetric transformable wheel-track (TWT) units.
• Each TWT unit is driven only by one servo motor, and can efficiently move over
rough terrain by changing the locomotion mode and transforming the track
configuration.
• It means that the mobile mechanism of NEZA-I has self-adaptability to the
irregular environment.
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11. Figure-5 ( NEZA-I)
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12. PROJECT OBJECTIVES
AIM The aim of our project is to build a robot that can achieve various modes of
locomotion, such as walking on legs, moving on wheels, moving on inclined surfaces etc.
OBJECTIVES:
• Development of mechanical structure of self-transforming robot consisting of wheels,
legs and fuzzy decision making system.
• Hardware implementation of self-transforming robot consisting of ultrasonic sensor ,
Fuzzy logic controller ,servo motor, accelerometer& gyroscope.
• Programming and software implementation of fuzzy logic controller for obstacle
detection and linear and angular moment of robotic vehicle using LABVIEW.
• Interfacing of self-transforming robot with fuzzy logic controller, ultrasonic sensor,
accelerometer and gyroscope for implementing various modes of locomotion such as
walking and moving on inclined surface.
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13. Figure-6 The basic model of the self-transforming robot.
PROPOSED METHODOLOGY
OBSTACLE
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14. Figure-7 Block diagram of fuzzy logic controller
X_DISTANCE
Y_DISTANCE
ORIENTATION
FUZZI-
FICATION
RULES:
OBSTACLE
NEGOTIATION,
TANSFOR MOTION,
ANGULAR
MODULATION
DEFUZZI-
FICATION
MOTOR
SPEED
CONTROL
FUZZY LOGIC CONTROLLER
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15. Figure-8 Schematic diagram of self transforming robot
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Ultrasonic Sensor
S1
Fuzzy Decision-
making system
P2.5P2.4
P2.3
P2.2
P2.1
P1.1 P1.2
P1.3
P1.4
P1.5
P3.5 P3.4
P3.3
P3.2
P3.1
P4.5P4.4
P4.3
P4.2
P4.1

16. ADVANTAGES
• Adaptation- An important advantage of these modular systems is the reconfiguration to
adapt to different situations.
• Robustness- Compared to conventional systems, modular platforms are more robust.
• Economic advantage-Usage of the same modules to create complex robots, lead to cost
reduction.
DISADVANTAGE
•Compared with a conventional robot built to specific tasks, modular robots have diminished
performance.
•Only limited distance detection is possible.
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17. APPLICATIONS
•Space exploration and space colonization.
•Construction of large architectural systems.
•Deep sea exploration/mining.
•Search and rescue in unstructured environment
•In military and defense.
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18. 1. YE Changlong, MA Shugen and LI Bin, “Development of a shape-shifting mobile robot
for urban search and rescue”, Chinese journal of mechanical Engg. vol.21, no. 2, pp. 31-
35, January 2008.
2. Nan Li, Shugen Mam, Bin Li, Minghui Wang and Yuechao Wang “An online stair-climbing
control method for a transformable tracked robot”, in Proc. Int. Conf. on Robot and
Auto. vol. 21, no. 2, pp. 923929, May 2012
3. K.Tsuchiya, Shinya Aoi and K .Tsujita,” Locomotion Control of a Biped Locomotion
Robot using Nonlinear Oscillators”, in Proc. Int. Conf. on Rob.and Sys. pp. 1745-1750,
October 2003.
4. Zhiqing Li, Shugen Ma, “Design and basic experiments of a transformable wheel-track
robot with self-adaptive mobile mechanism”, in Proc. Int. Conf. on Rob. And Sys. vol. 21,
no. 2, pp. 1334-1339, October 2010.
5. K. Radha and K.Valarmathi “Fuzzy based self-transforming robot” ARPN Journal of
Engineering and Applied Sciences vol. 10, no. 7, April 2015.
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THANK YOU

20. Hardware prototype