Wyniki wyszukiwania dla: Yuancan Huang
rozdział
Safety is essential for physical Human-Robot Interaction (pHRI). Nowadays, most safety studies have focused on collision analysis and safety evaluation instead of the consideration of inherent safety. In this paper, a dual-arm robot easily manufactured in batch is developed with homogeneous compliant joint. In order to compromise performance and safety, a nonlinear model of human-robot collision with...
rozdział
2016 IEEE 55th Conference on Decision and Control (CDC) > 6427 - 6433
The new generation of robots should coexist with our human beings in every walk of life. As a result, physical Human-Robot Interaction (pHRI) is ubiquitous and robot safety is quintessential. One solution to safety demand is to voluntarily put the series elasticity into joints for shock absorbing. However, side effects in terms of increased oscillations and long settling time occur. To alleviate this...
rozdział
2016 Chinese Control and Decision Conference (CCDC) > 5431 - 5437
A humanoid rehabilitation robot, composed of a fixed base, two arms and a waist, is designed to realize the rehabilitation training both on upper and lower extremities, which is described by a forked tree structure with two branches. Conventionally, kinematics and dynamics are analyzed separately in different coordinate frames in order to generate efficient kinematics formulae. It is, however, inconvenient...
rozdział
Lecture Notes in Computer Science > Advances in Neural Networks – ISNN 2007 > Neural Networks for Optimization > 320-329
Inspired by the Lagrangian multiplier method with quadratic penalty function, which is widely used in Nonlinear Programming Theory, a Lagrange-type nonlinear programming neural network whose equilibria coincide with KKT pairs of the underlying nonlinear programming problem was devised with minor modification in regard to handling inequality constraints[1,2]. Of course, the structure of neural network...
rozdział
Since the gravity terms depend only on the link positions in compliant joint robots, a neural-network-based gravity compensation scheme is conceived while the gravity model is unknown or is too complicated to be expressed explicitly. A PD-type control with this compensation is developed with the high-gain torque inner loop such that singular perturbation theory may be used to analyze the stability...
rozdział
This paper proposes a geometric method to solve the forward kinematic of the Delta parallel robot and then study the workspace. The inverse kinematics is also presented as the prerequisite for the dynamics. A simplified dynamics model is built by using virtual work principle. As a result, computed torque method based controller is obtained, which needs the accurate parameters of the model. But high...
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This paper considers a hybrid optimization control problem by mixing the low and impulsive (high) thrusts, which is a continuous and fixed-time interval control strategy for impulsive control of the orbit interception correction. Initially the linear system model is established and linearized by two-body equations of motion. The hybrid linear control system is analyzed and control law is obtained...
rozdział
In this paper, orbit interception correction strategy using fixed-time constraints is considered. This work developed an optimal method for the problem based on the linear quadratic with discrete-time impulsive control. The linearized model was set up using the perturbation guidance equation, and the control system model was simplified. The control strategy was obtained by discrete impulsive optimization...
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In this paper, contact dynamics of robot massage is described by the port-Hamiltonian modelling approach. In order to capture accurately the inherent characteristics of the human body in lumped-parameter manners, the conventional linear Kelvin-Voigt models are replaced by the nonlinear Hunt-Crossley models. As an application of the contact dynamics, coupled stability of compliant robotic arm with...
rozdział
The cervical spine rotation-traction manipulation is an important therapeutic technique for cervical spondylosis in the Chinese Traditional Medicine (TCM). However, incidence of medical malpractice is relatively high in the rotation-traction therapy when the unfledged internship physicians give the therapy. Thus, it is crucial to build a cervical spine mechanical emulator to evaluate how well one...
rozdział
In this paper, we investigated transparency in a teleoperation system. As is well known in related fields, transparency is an important index measuring system performance. To start with, we gave new transparency conditions based on calculation of basic dynamics. They are more intuitive, simpler and easier to obtain in comparison with previous work. In detail, we presented case study about whether...
rozdział
For reproducing the manipulation of TCM remedial massage and meanwhile guaranteeing safety, a 4-DOF anthropomorphic BIT soft arm with integrated elastic joints is developed, and a passivity-based impedance control is used. Due to their series elasticity, the integrated joints may minimize large forces which occur during accidental impacts and, further, may offer more accurate and stable force control...
rozdział
Despite significant progress in the optimal theory of impulsive control systems, finding the optimal solution for them still remains a challenging task because of the computational complexity. In this paper, we focus our interests on the LQ-based optimization for a specific class of linear impulsive control systems mixed with continuous-time controls and fixed-time impulses so that the problem-solving...
rozdział
For the purpose of developing a lightweight massage robotic arm ensuring safe human-robot contact, reduction of large force caused by shocks, and accurate and stable force following, a compact, integrated rotary compliant joint is designed, and a simple single-joint pressing massage robot is constructed in order to verify the compliant joint's performance. Then, the impedance-based controller with...
rozdział
Before the soldiers or police take actions, a fast and real-time detection in dangerous places, such as indoor, passageway and underpass, can both guarantee the soldiers' safety and increase the battle's accuracy, so it is significative and necessary to design a kind of scout robot which is able to arrive in the target region to acquire the message fast by the ways of thrown, shot or airdrop. This...
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Throwable miniature robots are very suitable for initiative reconnaissance and surveillance in important targets of sensitive areas. However, the throwing deployment mode of miniature mobile robots demands excellent anti-impact property. Moreover, another crucial problem resulted from the small volume of miniature robots is the difficulty of packing locomotion, sensing, computing and power subsystems...
rozdział
Miniature mobile robots are very suitable for initiative reconnaissance and surveillance important targets of sensitive areas. However, miniaturization of robots will inevitably lead to lack of the power of locomotion. Throwable miniature robots can very kind to solve the above-mentioned problem. However, the crucial problem resulted from the small volume of miniature robots is the difficulty of packing...
rozdział
A hybrid filtering approach is proposed for satellite attitude determination, which may furnish an optimal estimate of the state vector in the case where the measuring systems are composed of dissimilar types of multi-sensors with different sampling frequencies. Obviously, the no uniform sampling may be regarded as its special case. Then, a six-dimensional state error equation for satellite attitude...
rozdział
IEEE ICCA 2010 > 926 - 931
Secret reconnaissance in spatially constrained spot is demanded in many antiterrorism activities. So we propose a Throwable Miniature Reconnaissance Robot BMS-2(BIT MicroScout-2). BMS-2 has the character of small size and light weigh and the ability of attenuating the landing impact regardless of orientation, which is easy to deploy, such as thrown deployment??and can be satisfied with the demand.
artykuł
Neural Processing Letters > 2010 > 31 > 2 > 93-103
Intrinsically, Lagrange multipliers in nonlinear programming algorithms play a regulating role in the process of searching optimal solution of constrained optimization problems. Hence, they can be regarded as the counterpart of control input variables in control systems. From this perspective, it is demonstrated that constructing nonlinear programming neural networks may be formulated into solving...
