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This paper focuses on a lower limb walking assistant robot. This robot has been designed and modeled for two tasks of facilitating healthy people, and assisting patients for walking. First, basic concepts of the motion mechanism are presented. Next, its kinematics and dynamics equations have been developed. Kinematics analysis has been done using Denavit-Hartenberg scheme to obtain position, velocity...
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated...
Maintaining the balance or stability of legged robots in natural terrains is a challenging problem. Besides the inherent unstable characteristics of legged robots, the sources of instability are the irregularities of the ground surface and also the external pushes. In this paper, a push recovery framework for restoring the robot balance against external unknown disturbances will be demonstrated. It...
This paper focuses on a robotic human-like leg. This robot was designed and modeled for task of kicking soccer ball to desired target. In addition, applications of this robot have been explained and its kinematics and dynamics equations have been developed. Kinematic analysis has been done using Denavit-Hartenberg method and position, velocity and acceleration of center of mass (CoM) of all links...
Quadruped robots have many advantages over other robots. Their excellent potentials to traverse different terrains are one of main advantages which distinguish these robots from wheeled mobile robot. In this article, the gait planning problem and also the design of an appropriate controller for a quadruped robot will be investigated. To this end, an explicit dynamics model of an 18-DOF quadruped robot...
Model-based Control of a quadruped robot based on designed stable gaits is the focus of this paper. To this end, first explicit dynamics equations are obtained. Next, stable gait planning of the robot is investigated such that the robot can walk with a given speed over the terrain. Finally, the Sliding Mode Control (SMC) approach is applied, and a new chattering elimination method is proposed by adding...
Flexible members such as solar panels of space robotic systems during a maneuver may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which in turn produces error in the position and speed of the manipulating end-effectors, which should be prevented. In this paper, a new control algorithm for an object...
Dynamics and control of a space robotic system with flexible members during an object manipulation task is studied here. Flexible members such as solar panels of space free flying robotic systems and their flexible joints during a manoeuvre may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which in turn...
In this paper, dynamics and gait planning of a quadruped robot is discussed. To this end, using Lagrangian method the equations of motion are first derived. Then, an approach is proposed to eliminate the terms corresponding to the constraints caused by the feet on the ground. The obtained dynamics model is validated using Matlab SimMechanics. Finally, gait planning of the robot is developed such that...
This paper is related to the inverse-dynamic modeling of mobile multibody systems articulated with joints and wheels. An easily-implementable algorithm, which is based on Newton-Euler (NE) recursive dynamics, is proposed. From imposed joint and/or actuated-wheel motions, the algorithm performs fast calculations of the control torques, as well as the overall rigid motions involved in locomotion tasks...
Dynamics and motion planning of a wheel-legged robot with two manipulator arms is discussed in this paper. This robot can move on flat surfaces fast, while it has the capability of moving over rough terrains. The two locomotion subsystems, i.e. wheeled mechanism and legged mechanism, will be discussed separately. Wheeled locomotion mechanism includes three wheels, two of them are in the back as active...
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