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Self-balancing two-wheeled robots (TWRs) have attracted significant attentions over the last decade around the world. However, the traditional controller performs worse when TWR is driven under severe traveling conditions like steep slopes, speed bumps and other uneven terrains on practical pavement, which leads to potential security issues. This paper takes uneven terrains into consideration in system...
This paper discusses the dynamical servo control problem for the Acrobot - a mechanics with two links while just one actuator applied to the second link. The dynamical servo control aims to access generic points in the state space not just the equilibrium points. Stabilizing of generic points is impossible and a possible way is to stabilize some periodic orbits passing through the desired points....
This paper presents an unknown environment robot path planning algorithm. The robot working environments are expressed by grid model; Using digital potential field generated initial path population, and its optimization find the shortest path, and individual evaluation function were processed fitness function both feasible path and unfeasible path fitness function, and then by increasing the deleted...
Brachiating is the hand over hand swinging locomotion used by various primates, especially the long armed apes. By analyzing the behavior of gibbon, which moves from branch to branch swinging its body like a pendulum, the basic principle and brachiating control of the simplified two-link gibbon-type robot is studied. Based on Lagrange equations and analyzing the postural characteristic of gibbon a...
The tracing and localization technology of pipeline crawling robot is indispensable in industrial engineering application, such as pipe-wall inspection, obstacle avoidance, and pipeline maintenance etc. All these requirements are achieved based on communication between outside and inside of pipeline equipments. Generally speaking, high frequency electromagnetic wave is the preferred method, for its...
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