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To fulfil the principle of low-cost and easy operation features, a new control scheme is proposed for the LARM Hand in this paper. The new controller is composed of a high level PC-based control panel and a low level DSP control card and the two parts communicate with each other through RS-232. The PC-based control panel is software with which an operator can input control parameters, and additionally...
The leg design of a cockroach robot ensure that they can generate movements used by the cockroach to walk and climb over a range of objects. However, in order to take advantage of these complex designs, we must first solve difficult problem in control. To the foot trajectory tracking control problem for cockroach robot, a new global non-singular adaptive fuzzy terminal sliding mode controller (NFTSM)...
This paper does researches Into the configuration of our cockroach robot, its kinematics, and kinematic control. First, we design the cockroach robot, which has six legs with 18 DOFs in total. Each leg has 4 joints, coxa, femur, tibia, and tarsus. Based on cockroach robot kinematic analysis, screw theory, and POE (production-of-exponential) formula, this paper is focused on the inverse kinematics...
Based on the standard intelligent module of the modular robot, a kind of neural network sliding mode control method is put forward. The neural network is used to approach to the function between the state hyperplane of the system and the reaching law. A hyperbolic tangent function is applied to replace the saturated function in order to realize the boundary method design of the sliding mode control...
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