Serwis Infona wykorzystuje pliki cookies (ciasteczka). Są to wartości tekstowe, zapamiętywane przez przeglądarkę na urządzeniu użytkownika. Nasz serwis ma dostęp do tych wartości oraz wykorzystuje je do zapamiętania danych dotyczących użytkownika, takich jak np. ustawienia (typu widok ekranu, wybór języka interfejsu), zapamiętanie zalogowania. Korzystanie z serwisu Infona oznacza zgodę na zapis informacji i ich wykorzystanie dla celów korzytania z serwisu. Więcej informacji można znaleźć w Polityce prywatności oraz Regulaminie serwisu. Zamknięcie tego okienka potwierdza zapoznanie się z informacją o plikach cookies, akceptację polityki prywatności i regulaminu oraz sposobu wykorzystywania plików cookies w serwisie. Możesz zmienić ustawienia obsługi cookies w swojej przeglądarce.
In this paper, we propose a unified approach to teach and iteratively refine both end-effector and null-space movements. Hence, the robot can be taught to make use of all its degrees-of-freedom (DoF) to adapt its behavior to new dynamic scenarios. In order to achieve this goal we propose an incremental learning approach in a framework of kinesthetic teaching based on a multi-priority kinematic controller,...
We are proposing a general framework that incorporates multiple task definitions in the prioritized inverse kinematics problem. First, a mathematical description of multiple task definitions is constructed that provides an efficient way to show unprioritized or prioritized accumulations of tasks. Then, smooth transitions between all task definitions are studied, so a method, called task transition...
This paper proposes new methods for the prioritized inverse kinematics (PIK) by using the QR decomposition (QRD) and the Cholesky decomposition (CLD) on the purpose of separation between orthogonalization and inversion processes that are essential parts of the PIK. The distinctive approach eliminates the interference between two processes which usually induces inaccuracy and sometimes instability...
This paper discusses a balance control method with kinodynamic constraints for leg-wheel hybrid structures in an effort to improve the mobility of locomotion over hard, flat surfaces. Preliminarily, we defined a prioritized Jacobian and a prioritized inverse of Jacobian to formulate the dynamically decoupled model in the task space for the constrained multi-contact multi-rigid-body system with a floating...
This paper discusses an unified method of the tracking and balancing controls for leg-wheel hybrid structures in an effort to improve the mobility over hard, flat surfaces. Preliminarily, we analyzed the contact constraint to formulate a dynamically decoupled model in the task space. Then, inequality constraints were determined to restrict the dynamic behavior of the system within the given bounds...
This paper proposes a balance-control algorithm which uses the Zero-Moment Point (ZMP) in order to maximize the dynamic stability of leg-wheel hybrid structures on hard, flat surfaces. The algorithm constrains the control input to satisfy the condition in which the ZMP stays at the geometric center of the contact area. This restriction of the control input changes the original fully actuated system...
This paper proposes a balance-control algorithm which uses the Zero-Moment Point (ZMP) in order to maximize the dynamic stability of leg-wheel hybrid structures on hard, flat surfaces. The algorithm constrains the control input to satisfy the condition in which the ZMP stays at the geometric center of the contact area. This restriction of the control input changes the original fully actuated system...
This paper proposes a balance control algorithm which uses Zero Moment Point (ZMP) in order to improve the mobility of leg-wheel hybrid structures on hard, flat surfaces. The algorithm generates balancing leg motions which continuously adjust the contact points to allow the geometric center of the contact area to follow ZMP. During our simulation of a balance control system which uses Individual Joint...
This paper proposes new robust control allocation method of redundantly actuated variable structure systems. The original system is divided into two subsystems by factorizing the input matrix. Then all system uncertainties can be treated with the virtual control input. The control strategy has two steps. At the first step the virtual control input is found with sliding mode control with perturbation...
A new 6DOFs omnidirectional mobile robot with three leg-wheel hybrid structures is suggested to perform the human body gestures. The omnidirectional property of the human body is determined by investigating the motion capture data of the human body gestures. The offset between the steering and the wheel axis is inserted to remove the singularity of the leg-wheel hybrid structures and the spherical...
Podaj zakres dat dla filtrowania wyświetlonych wyników. Możesz podać datę początkową, końcową lub obie daty. Daty możesz wpisać ręcznie lub wybrać za pomocą kalendarza.