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In order to realize adaptive quadruped locomotion on terrains with different properties (such as surface friction or elasticity modulus), we plan to collect the foot-ground contact force and gyroscope information during locomotion on different ground substrates, then classify the ground substrates with the feature vector extracted from the collected data using Support Vector Machine (SVM) algorithm...
Aiming to reduce the computation and implement compliant control, this paper proposes a novel inverse dynamics control strategy based on the floating-base rigid body system. The control strategy assumes that each leg of the quadruped robot organizes itself into an independent autonomous system, a serial robot. Based on this assumption, the kinematics and the dynamics models of the quadruped robot...
In the paper, we aim to design a controller for the four-rope-driven level-adjustment robot to adjust eccentric payload to level and keep the rope tension balanced. As the robot's actuators can only move in a certain range, it is necessary for the controller to judge whether the actuators' movement becomes constrained or not. Further, different control strategy should be taken to handle different...
This paper presents an integrated scheme for motion control and internal force control for a redundantly actuated omnidirectional wheeled mobile robot. The interactive forces between a robot body and its wheels can be reduced into two orthogonal parts: motion-induced forces and internal forces. First, it is shown that the internal forces reside in the null space of the coefficient matrix of the interactive...
Because of the complexity of the mechanisms of redundantly actuated omni-directional wheeled mobile robots (WMR), its motion regulation is a challenging problem, especially for consideration of the interaction force between the redundantly actuated wheels. The interaction force can be decomposed into motion-induced force and internal force, which are orthogonal between each other. Only the motion-induced...
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