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In this paper, we propose a new remote control algorithm for mobile robot. Initially, the remote controller which consists of a camera and inertial sensors captures four circle landmarks on a robot. After moving the remote controller to point to a desired destination position, the camera's pointing trajectory is estimated using an inertial navigation algorithm and transmitted to the robot using a...
The objective of this study is to create a wheel-type anthropomorphic robot to support those who are unable to eat independently. The constructed robot comprises mainly an omni-directional base, a fixed torso mounted on the base, two seven-degrees-of-freedom arms, two robot hands and a head equipped with a panoramic camera and a pan/tilt/zoom (PTZ) camera. For feeding tasks, a vision-guided control...
This paper investigates modeling and identification for the lower body of a social robot, Nancy, with flexible transmission. The flexible-joint and motor parameters of the rigid-link flexible-joint (RLFJ) model and the inertial parameters of the rigid model are identified in using the developed linear dynamic parametric model and the Weighted Least-Squares (WLS) technique. The comparison of these...
In this paper, a method to suppress the sway motion of an offshore container crane is discussed. The offshore container crane is used to load/unload containers between a huge container ship (called the “mother ship”) and a smaller ship (called the “mobile harbor”), on which the crane is installed. The load/unload control objective is to suppress the pendulum motion (i.e., “sway”) of the load in the...
In this paper, we deal with an optimal control problem for nonholonomic systems. We would be confronted with the Hamilton-Jacobi-Bellman (HJB) equation, whenever we try to obtain the feedback solution. Moreover, it is well known that a viscosity solution is necessary for the HJB equations in the case of nonholonomic systems. Generally, it is very difficult to obtain a standard solution for the HJB...
We propose in the following paper to tackle the multi-robot exploration problem. Our approach does not presuppose the availability of maps of the environment. We first describe a laser based on-line map building associated with a landmark based methodology to fuse team robots observations in the general case where no relative poses are given. We then explain how to assign the next best target in case...
This paper addresses the integration of a multi-loop PI and neural fuzzy control system for multiple-axis motion positioning and tracking via the use of the Field Programmable Gate Array (FPGA) technology. The controlled plant here is an X-Y table driven by permanent magnet linear synchronous motors. The control system comprises two programmable servo-control systems for both axes, each includes a...
This paper describes the experimental analysis of eye movement during the generation of a trajectory by the human upper limb, carried out to elucidate the human mechanism for visual-information recognition. In the experiments preformed, subjects were asked to draw the trajectories of some kinds of images: a complete circle, semicircle, stippled circle. Reflective markers were attached to the subjects...
Recently, high-speed vision systems, which provide high frame rate visual information in real time, are widely used. Since the high-speed visual information is too fast for humans to recognize directly in real time, these systems are mainly used to control artificial systems such as robots. Contrary to this trend, we attempt to provide the high-speed visual information directly to humans so that they...
This research aims to create a framework of transporting an object by multiple humanoid robots. e.g. In this work, a leader-follower type cooperation method is used. In the leader-follower method, the leader robot is directly operated by a human operator, and the follower robot is programmed to follow the leader robot based on the force sensor information measured on its hands. This force is due to...
This paper proposes zero moment point (ZMP) tracking approach for controlling an autonomous bicycle and improving its stability. In a humanoid robot, ZMP trajectory is widely used to analyze the stability of its locomotion. In the area of stabilizing an autonomous bicycle system, many controllers have been designed, such as PID steering controllers and fuzzy controllers. However, ZMP tracking strategy...
Though an inverted pendulum is one of the typical examples of nonlinear control systems, it is shown that the inverted pendulum is not feedback linearizable. Saeki proposed a new method to design a backstepping-like controller. This paper presents a swing up controller by combining Saeki's method with the energy function method. First, we give the control input of the cart to cancel the effect of...
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