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The problem of motion trajectory optimization with constraints is considered for robotic system with actuated joints. Constraints concern contacts and path-following in the Cartesian space. These constraints arise in walking patterns. In this study, we are dealing with cases where the same constraints hold during a given motion. The trajectory optimization is performed by defining some state variables...
In a closed intramedullary nailing of femoral surgery, one of the most difficult task for surgeons is to identify the position and orientation of the screwing holes at both ends of the intramedullary nail (IMN) after being inserted into a patient's femoral canal. The distal hole location may be shifted by external forces and torques applied to the IMN during the insertion procedure resulting in the...
To solve the problem that a humanoid robot is prone to tip over while walking on uneven ground, this paper presents an online regulating control algorithm based on the Kane collision theory. The algorithm, which introduces a new physical quantity named "generalized speed", can reduce second-order differential equation to first-order ordinary differential equation, and shorten the time of...
This paper presents the progress of the FIBO humanoid robot (FHR-1) called "Somjuk". The project, involved four years, is aimed at the realization of the lower part of an anthropomorphic humanoid robot. The robot included two legs, two feet ad a trunk. This paper describes the mechanism, controller architecture, foot force torque sensor and walking strategy of the developed biped robot....
This paper proposes a novel approach to determine the optimal contact points for constraining a prismatic object by a group of mobile robots. The optimal contact points are found such that the twin objectives of minimum number of robots required for form closure and the least force required for grasping are satisfied. The mobile robots are assumed to be able to apply a normal force without friction,...
This paper introduces a global localization system based on natural landmarks for indoor mobile robots. The proposed approach is based on recognition of natural landmarks from laser scanner data. A previously built grid-based map is pre-processed off-line to obtain a model of landmarks and their attributes for each cell. The robot's position and orientation are calculated by finding correspondence...
Many patients suffer from the spinal cord diseases, a proper modeling and control of human motor system will help to improve the prognosis of them. This paper presents an integrated model to describe the static and dynamic characters of spinal neuro-musculoskeletal system based on the currently accepted theories and hypothesis in biological motor control. Then a new control system with generalized...
This paper discusses how linear fractional transformation (LFT) technique and mu-analysis and synthesis theory can be applied into the design of robust haptic telemanipulation systems with multiple uncertain sources including communication time delay, and presents a framework of controller design for such a system under the assumption that all components in the system possess uncertainty
This paper presents an adaptive observer for a class of multi-input multi-output (MIMO) nonlinear systems. These systems are linear in unknown parameters, and system nonlinearities satisfy Lipschitz conditions. The implementation of observer does not require any coordinate transformation. However, the estimation convergence analysis is dependent on a nonlinear filtered coordinate transformation. Sufficient...
The design strategy of adaptive controller for anti-slip system of EV (electric vehicle) is proposed. The proposed system is constructed by preparing both systems of disturbance observer and parameter estimation. The load variation of the tire slip is observed as the equivalent disturbance of motor system by employing the adaptive disturbance observer, and the vehicle speed is estimated. The tire...
This paper studies the kinematics optimization of redundant manipulators. Based on the relationship between self-motion variable and Jacobian null-space vector, a new method for choosing self-motion variable of redundant manipulators is proposed; Using linearization, a unified formulation of kinematics performance criterion is introduced and its analytical form in terms of self-motion variable is...
More and more robot tasks extend to unknown environments. Extraction of the topological map from the robot exploration results of an unknown environment is of great importance for the completion of robot path-planning tasks. In this research, a robot explores the environment and builds a grid map in the simulation experiments; the building of topological map based on the features of the grid map is...
This paper presents a simple numerical method for forward kinematics of a general 6-DOF parallel manipulators, which can generate a unique solution directly. This method utilizes the trivial nature of the inverse kinematics of parallel manipulators, and derives a straightforward linear relationship between the small change of joint variables (leg lengths) and the resulting small motion of the platform...
Camera-based systems are frequently used to track moving objects which are in the field of their view. This paper describes design and development of a camera-based tracking robot that can constantly track moving object without necessity of calibrating camera in real world units then control the two-wheeled moving platform to follow the object. The camera serves as a feedback sensor to guide robot...
The B2O3 was introduced into Er3+ doped TeO2-ZnO-Na2O glass to increase the phonon energy of the host. The effect of B2O3 on the lifetime of 4I11/2 level was investigated. The results show that the lifetime of 4I11/2 level is shortened ascribing to the increasing multiphonon decay rate between the 4I11/2 and 4I13/2 level. Accordingly, the green- and red-upconversion fluorescence decreases with increasing...
This paper proposes an evolutionary computation method to compute force-closure grasps from surface points. The object is presented as set of points. The proposed method searches for grasping configurations without prior knowledge of object's geometry. The experiment is carried out to validate the proposed method. The result when compared with a random search method shows that the proposed method...
Our research is focused on cost evaluation of path planning with span through experiment and theoretical analysis. The evaluating plan is advised by combining safety, energy consumption and time consumption together and the optimal path is found from several paths. Based on the planning paths with search arithmetic, the cost evaluation of path planning with span researches the span of planet detector...
Considerable effort is spent in the design and testing of disk brakes of modern passenger cars. This effort can be reduced if refined mathematical-mechanical models are used for studying the dynamics of these brakes before prototypes are available. The present paper is devoted to the modeling of a floating caliper disk brake, special regard being given to the suppression of squeal. A simplified model...
In the field of MEMS, optical instruments and communication, the manipulation tasks such as mechanics property test of micro- material, micro-components assembling, and fibers connecting, are challenging for their minuteness and accuracy. It is measured in the scale of micro-meter or sub micro-meter. The full-compliant mechanisms are the best alternative, which are characteristically of their compliant...
Vehicle localisation in outdoor environment is an important issue. When this localisation system has to provide an accurate and reliable position for an automatic guidance system, this is a challenge. In this paper, we propose a supervised active localisation system to satisfy this need. When localisation system mustn't meet vehicle control process requirements: accurate position and high confidence...
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