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Balancing a bipedal robot movement against external perturbations is considered a challenging and complex topic. This paper discusses how the vibration caused by external disturbance has been tackled by a Linear Quadratic Regulator, which aims to provide optimal control to the system. A simulation was conducted on MATLAB in order to prove the concept. Results have shown that the linear quadratic regulator...
The article discusses motion of a healthy knee joint in the sagittal plane and motion of an injured knee joint supported by an active orthosis. A kinematic scheme of a mechanism for the simulation of a knee joint motion is developed and motion of healthy and injured knee joints are modelled in Matlab. Angles between links, which simulate the femur and tibia are controlled by Simulink block of Model...
The concept of proposed Intelligent Motion Control Layer (IMCL) is studied and evaluated on Matlab and Simulink based virtual simulation models. All interfacing between the control model and the virtual UGV physical model simulate the interfacing of a real UGV hardware (latencies, approximation, uncertainty). The virtual physical model of the UGV is tested on virtual environments (ramps, sections...
A follow-up initiative of development in the field of optical radiometry undertaken in the frame of European Metrology Research Programme (EMRP) is described. Amongst the other tasks, the new project NEWSTAR aims at accurate determination of ratio e/h of fundamental constants - elementary charge e and Planck's constant h. This is envisaged to achieve by using improved version of Predictable Quantum...
This article focuses on the problem of terrain classification from aerial imagery with the intention to increase unmanned ground vehicle (UGV) road and off-road performance by providing means to analyze data from unmanned aerial vehicle (UAV).
The paper discusses mechatronics and robotics systems conceptual level design approach. Set of design templates are developed and organized into libraries preassigned for use on early stages of system design on example of robotics applications. The advantages of retaining the usability of component libraries offering in parallel the design alternatives verification and fine tuning capabilities on...
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