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In this paper, a real-time walking trajectory generation method at constant body height in a single support phase for three-dimensional biped robots is proposed. An analytic solution of a body trajectory was obtained from a ZMP (zero-moment point) equation of a body and a swing leg trajectory. Real-time body trajectory is generated based on an analytic solution. This body trajectory is applied, the...
Wave variables approach is mostly used due to its conservation to keeping passivity in time delayed teleoperation. On the other hand, excess conservation of passivity results in degraded system performance on environment perception or positional maneuverability. In physical environments waves are reflected, diffracted and refracted. Thus, wave variables approach introduces drifting problem to control...
The goal of this research is to realize robust teleoperation with multiple telerobots under changing communication topologies. In haptic teleoperation with multiple operators and multiple robots the forces as well as the positions should be transmitted between all the robots, which introduces difficulties in maintaining the stability and the efficiency of the system under communication failures or...
This paper proposes a multirate sampling method for bilateral control systems over network. In the proposed structure, packet-sending period is larger than control period of motor control. This packet contains position and force information that is transmitted between master side and slave side. In general, packet sending period is equal to control period. The reason comes from the fact that data...
In this paper, modal transform method for cooperation working is proposed. With this method, the work is simply described by modal mass and arbitral number and location of robots are able to be controlled by conventional hybrid controller. Furthermore, rotation by linear actuators, one of the most important propositions in this research, is considered. Position, angle, force and torque are transformed...
This paper describes a novel bilateral grasping control system including master-slave robots with different degree of freedom. The master and slave controllers are designed based on a multilateral control scheme. Decoupling design of force and position controllers is realized by mode transformation using the discrete Fourier transform matrices and a disturbance observer. In the proposed system, a...
In this paper we introduce scaled consensus algorithms for scaled cooperative teleoperation using multiple robots. First we show basic results about scaled consensus algorithms, and then derive the scaled acceleration and haptic consensus algorithms necessary for scaled teleoperation on a network, by scaling the information flow on the network. We show that with the new method it is possible to realize...
Recently, minimally invasive surgery (MIS) that has some advantages has come to the front. The research on surgical robot for operational support has been actively done. To use such robots in MIS, it is needed to estimate the environmental impedance as the numerical data and to preserve it from the viewpoint of knowing the standard reference value of the safety field of internal organs and from that...
In this paper, real-time environmental recognition method is proposed. With this method, location of the contact points are described in three dimensions and directions of the forces are also described in three dimensions. At first, modes of the contact points are divided into two modes; ldquoforce moderdquo and ldquomoment moderdquo. After that, ldquoexternal moderdquo and ldquointernal moderdquo...
In this paper, a novel multi input multi output network model entitled as dasiainfinite mode networkspsila is explained. The model proposes a new and challenging design concept. It has mathematically clear input output relationship compared to neural networks. This new model has a desired embedded internal function which roughly determines a route for the whole system to follow as DNA does for biological...
In this paper, a novel bilateral teleoperation system with communication delay is proposed. Master and slave controllers of proposed structure have compensators to deal with packet loss and communication blackout. In addition, two communication lines are used to transmit position and force information between master and slave. Proposed control structure has robustness against packet loss and communication...
Flexible actuator which consists of a thrust wire and a linear motor realizes flexible arrangement of an actuator and an end-effector. Flexible actuator is able to transmit force sensation through a thrust wire. Thus, it is expected to be utilized in haptic motion systems. However, there is an unignorable error between the generated force of the actuators and the actual force which is transmitted...
FPGA has been focused on as a controller of robot systems. Haptic robot system based on bilateral control system is one of the significant applications using the FPGA. In this paper, the bilateral control system including mode transformation is implemented on the FPGA. The bilateral control system is based on acceleration control system. The mode transformation is a transformation between robot mode...
Bilateral control robots are one of the master-slave teleoperation robots. The Bilateral control robot achieves communication of force sensation between master system and slave system. As one of the bilateral control systems, a three-channel bilateral control system was proposed. The three-channel bilateral control system has only three communication channels and the position information is transmitted...
In this paper, a distributed control law is proposed for multirobot haptic teleoperation, based on consensus algorithms and acceleration control. This novel technique, called haptic consensus, enables robots on a network to agree on their accelerations, velocities and positions as well as a common force feedforward, by simply communicating the state data and force measurements of the robots on the...
In this paper, creation of a new network model entitled as infinite mode networks is explained. Infinite mode networks intelligently governs any kind of systems by analyzing multi inputs and exerting multi outputs. They have a desired embedded internal function which roughly determines a route for the whole system to follow as a DNA does for biological systems. By this system, infinitely many error...
A dynamic force controller based on momentum is implemented to the redundant system in this paper. With this method, the centrifugal and Coriolis terms are eliminated from the system and precise and stable force control is realized. Firstly, force control based on momentum is described. This controller does not have any singular points and is able to be applied to dynamic state. A null space controller...
In the field of motion control, robustness is an important issue to accomplish desired motion of robots. To achieve robust motion control, acceleration control has been studied. In the acceleration control, disturbance observer is used to estimate and compensate disturbance force applied to an actuator. In the disturbance observer, the disturbance is estimated with calculating acceleration based on...
In this paper, a novel multi input multi output network model entitled as rdquoinfinite mode networksrdquo is explained. The model proposes a challenging novel design concept. It has mathematically clear input output relationship compared to neural networks. This new model has a desired embedded internal function which roughly determines a route for the whole system to follow as DNA does for biological...
Future robots are expected to support human physically. The physical support by them should be based on the individual's sensation and action. This means the robots must actively recognize the unknown environment according to the individual's action. They also have to transmit the obtained environmental information to the individual in harmony with his or her sensation. Then, real world haptics will...
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