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Design, implementation, and machine learning issues associated withdeveloping a control system for a serpentine robotic manipulator are explored.The controller developed provides autonomous control of the serpentine roboticmanipulatorduring operation of the manipulator within an enclosed environmentsuch as an underground storage tank. The controller algorithms make use of bothlow-level joint angle control employing force/position feedback constraints,and high-level coordinated control of end-effector positioning. This approachhas resulted in both high-level full robotic control and low-level teleroboticcontrol modes, and provides a high level of dexterity for the operator.

Design, Implementation, and Cooperative Coevolution of an Autonomous/ Teleoperated Control System for a Serpentine Robotic Manipulator