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There are more and more needs for surface contact works, such as polish, grinding, paint, inspection, etc., with robot manipulators in recent years. In this paper, to achieve high-speed and high-precision surface contact work by robot manipulator, we propose a separation method of posture components to solve the problem of the rotation order, and a method of introducing the impedance characteristics...
In research of biped walking robot, energy-efficiency is an important issue. Full-actuated type robots using ZMP based control have high environmental adjustability and high robustness, but they consume much energy. On the other hand, passive dynamic walking type robots have high energy-efficiency, but they don't have high-environmental adjustability and robustness. Then, we have proposed an optimal...
This paper addresses a hybrid neural-PID control scheme to nonlinear system for real-time robotic visual tracking of a moving object. By using the motion rules of the CCD camera and the object, the equations of observation and state-space are given. Then, the system can be represented as an MIMO ARMAX model and an efficient estimation model. The adaptive optimal predictor can process on-line estimation...
This paper proposed a mathematical model of six- axis force/moment sensor for robot finger and a new method of feedback control for how to use it. With this proposed mathematical model of this kind of sensor, the grasping force and its moment can be calculated. And then, a new control method of feedback control for grasping control is also proposed and described. With this control method, a robot...
Interior demolition work of buildings is a necessary recycling task for environmental conservation and effective usage of resources. The conventional moving method of a mini-shovel used for interior demolition work is a crawler. However, a crawler scratches road surfaces and floors; moreover, it lacks body stability when going up and down stairs. The purpose of this study is development of a novel...
In order to implement walking efficiency and environmental adapting ability to a biped locomotion, it is required to combine passive dynamic walking and active one. In this paper, a passive/active unified dynamic walking for biped locomotion was proposed. Firstly, a passive/active unified actuator that has a torque detector and is actively controlled by zero torque feedback control was proposed and...
Determining precisely the motion of robot body is of great significance to the location and control of mobile robots. If the positions of each foothold and the driven joint variables are inaccurate, actual posture of the robot is likely to deviate from requirement. In this paper, based on the forward kinematics of a multi-legged walking robot, the posture accuracy of the robot is discussed in terms...
Decreasing impact force between the foot and the terrain when the foot lifting and landing, is one of the most important problems for the walking robot on the irregular terrain and the bumpy road, because it negatively affects the body stability and sometimes destroys robot mechanical parts. Therefore this paper a proposed phased compliance control using virtual compliance force for multi-legged walking...
For the researches of biped walking robot, energy-efficiency is an important issue. We have proposed an optimal trajectory planning method based on a function approximation method, and applied it for 2D biped walking model. With this method, we obtained the solution of minimal square integration value of the input torque. Before that, this method only includes equality state constraint, but in this...
In this paper, we proposed a robust control method based on the virtual suspension model for the purpose of keeping the posture stability of the robot body when the robot is walking on irregular terrain. This method considers the active control input and disturbances from collisions and the slippage between the foot of the robot and the ground, and the dynamic change of the supported weight of the...
In this paper, we proposed a robust control method based on the virtual suspension model for the purpose of keeping the posture stability of the robot body when the robot is walking on irregular terrain. This method considers the active control input and disturbances from collisions and the slippage between the foot of the robot and the ground, and the dynamic change of the supported weight of the...
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