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With the third-harmonic component considered, the vector control strategy of five-phase permanent-magnet synchronous machine (PMSM) is investigated in this paper. The effect of the third-harmonic component of the air-gap flux density on the machine performance is investigated, and the implementation and applicable condition of the single-plane and dual-plane vector control methods are studied. By...
Imitating human joint structure in robotic joints can not only enable biped robots to realize more human-like locomotion, but also help humans to better understand the human body. This paper presents a bio-inspired knee joint for biped robots. The knee joint has the desirable characteristics similar to human knee joint including compliance, changeable instantaneous center of rotation, as well as the...
In order to make full use of the ability of the low impact docking mechanism to reduce the contact force in the docking process, the impedance control strategy is designed. And then a kind of parameter adjusting flow is proposed for the impedance controller based on the influence rules of the target impedance. To perform a low impact docking mission unaware of the initial position error and orientation...
The Bio-inspired Behavior-Based Bipedal Locomotion Control (B4LC) system consists of control units encapsulating feed-forward and feedback mechanisms, namely motor patterns and reflexes. To optimize the performance of motor patterns and reflexes in terms of stable locomotion on both even and uneven terrains, we present a learning scheme embedded in the B4LC system. By combining the Particle Swarm...
Most of morphing aircrafts control the flight attitude by the deformation of aircraft wing, however morphing UAV is not limited to the deformation of the wing. This paper studies cyclic variable pitch propeller system which can generate control torque. According to mathematical model of cyclic variable pitch propeller based on propeller blade element theory, the study analyzes the principle and researches...
This paper presented a novel compliant actuator used for lower limb exoskeletons. The compliant joint consists of a series elastic actuator (SEA) and parallel elastic (PE) unit. SEA has various advantages as the actuator of assistive exoskeletons, such as low output impedance, impact absorption, precise force control and high stability. We designed and fabricated a novel SEA as the primary joint actuator...
Human shows remarkable skills in reactive balancing control on unknown disturbances while standing and walking. Though current bipedal robots can walk, run and step obstacles, they normally perform in a well-controlled environment. Unexpected perturbations can cause the tumbling of bipedal robots when they possess limited capability of rejecting disturbances. Studies upon neurology and psychophysics...
This article presents an approach and a systematic design methodology to path following control based on motion decoupling for high-performance ducted fan unmanned aerial vehicles (UAVs). The decoupling is performed according to the principle of regarding the attitude motion as a virtual input of the lateral longitudinal flight dynamics. This allows the attitude and flight controllers to be designed...
Though balancing is a fundamental part of human walking, it has been a challenging topic for bipedal robot. Compared to the versatile strategies of handling disturbances of human, current bipedal robots possess limited skills of managing external disturbances. Among them the capabilities of push recovery and maintaining balance are obviously of prior importance for a bipedal robot to walk in an unknown...
Lower extremity exoskeletons can improve human strength and endurance with a pair of wearable robotic legs that support a payload. This paper summarizes the biomimetic design and biomechanical analysis of a novel 15-DOF (degree of freedom) lower extremity exoskeleton. The selection of the DOF, critical parameter design, and initial performance simulation are discussed. To provide a basis and guidance...
This article presents the nonlinear dynamics and the posture stabilization control scheme for the single-wheeled pendulum robot (SWPR). Considering the maneuverability of SWPR, the steering is realized through the control for the inertia pendulum (IP) installed horizontally on the middle part of robot body. The feature of the control system modeling consists in a technique for which the posture stabilization...
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