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This paper evaluates the controllers performance on AU Self-balancing Bicycle (AUSB). The gyroscope is used to sense the balanced position of the bicycle while an encoder is used to sense the position of the flywheel. The Single loop uses a gyroscope sensor and an additional encoder sensor is used in the Double loop. The main objective of this paper is to demonstrate the improvement in the performance...
Central pattern generator (CPG) models have been designed at abstract levels of the rhythm phenomena and widely applied in robot control. The robot controlled with a CPG model is hard to perceive and respond to the motion intention coming from human beings. A new CPG model driven by surface electromyography (sEMG) was presented in this paper to manipulate robots more favorably without loss of their...
This paper describes a method for object detection from three-dimensional image using stereo vision. Each object has a different disparity distribution. In other words, an object's disparity distribution is discontinuous at the border between itself and another adjacent object. Focusing attention on this point, the image is divided into objects. Furthermore, objects having sharply-defined contour...
Considering on precise and rapidly positioning of multi-beam laser, this paper develops a multi-beam laser alignment platform and a beam-target coupling method. The beam-target coupling method is composed of a multi-beam laser spots tracking algorithm and an alignment strategy based on variable structure PI control. With experiments on the multi-beam laser alignment platform, the value of this method...
In this paper, we propose an observer based on proportional-integral type sliding mode to estimate unknown bounded time varying input of a nonlinear dynamical system. Exponential convergence of the observer is demonstrated using Lyapunov theory. Then this observer is used in the attitude estimation algorithms of accelerated rigid-bodies. The proposed observer is able to estimate the unknown linear...
Stereo Vision (SV) Localization is an advanced sensory tool for motion estimation and tracking applications especially in robotics. Low cost and ease of use are the core benefits of this sensory system. One of the major problems in SV localization is the error in the estimation of object location because of the delay which is produced by asynchronous shuttering of each camera. A usual technique to...
In this paper, we pursuit possibility of discrete-valued version of nonholonomic mobile robot systems. Instead of the special Euclidean space SE(2), we suppose the hexagonal cellular space as the field of planar locomotion. We then consider discrete equivalent of wheeled mobile robot governed by nonholonomic kinematic constraints, which is defined by discrete-valued difference equations rather than...
Cycling is a healthy and moderate aerobic exercise for the elderly and it works well not only to their physical functions but also to their mentalities. In order for the exercise machine that can facilitate the moderate aerobic exercise for users who cannot do real cycling, we have developed the virtual reality bike (VR Bike) with a cylindrical MR fluid brake. The aim of this paper is to describe...
Peak power, peak torque and energy requirements are amongst the main issues for powered prosthetic ankles. Including series elastic actuators (SEA) can reduce peak power and energy requirements by reducing motor speed in comparison to a Direct Drive (DD). Parallel elastic actuation concept (PEA, the parallel spring can be compressed and elongated) can reduce the peak power even more by reducing required...
Parallel robot was widely applied in the field of medical rehabilitation. Particularly, the ankle parallel rehabilitation robot was known as the hot research topics. The paper introduced the parallel robot in the ankle rehabilitation applications, then ankle physiological structure, damage mechanism were analyzed. It presented a novel parallel ankle rehabilitation robot, and achieved the kinematic...
A vision feedback based active vibration control system for flexible manipulator is proposed. Active vibration control is conducted by employing Radial Basis Function (RBF) neural networks to regulate the control parameters of the proportional and derivative (PD) controller. Firstly, the composition of the vision feedback based piezoelectric flexible manipulator system is described. Furthermore, vision...
This paper presents a rapid prototyping of realtime controllers for humanoid robotics based on standard off-the-shelf hardware and software. The proposed scheme allows control of a wide class of robotic systems in hard real-time. To take advantage of Simulink graphic programming interfaces, robotic programming environment, middleware and library are also presented based on Matlab/Simulink/RTW toolchain...
This paper presents a Field Programmable Gate Array (FPGA) based implementation of Acceleration Velocity Obstacle based Collision Avoidance for an omni-directional robot with acceleration constraint. Specifically a parallel architecture for collision avoidance is proposed that portrays the advantages of FPGA implementation over the sequential implementation for same processor or clock speed. FPGA...
This paper presents a solution to maintain stability in a force-reflecting bilateral teleoperator in the presence of substantial time-varying delays based on the wave transformation. By adding a filter inside the communication channel, a criterion is developed to show why the proposed bilateral control law is stable for large time-varying delays. To show the validity of the proposed scheme, we conduct...
This paper presents a cooperative formation control on networked multi-agent systems, in which the mobile agents have nonholonomic constraints. To simplify the control design, the dynamics of agents are first transformed into chained form. Based on it, a formation cooperative control scheme is derived from the conventional consensus control law which has been applied to address the nonholonomic constraints...
A method for estimating compliance properties of objects in the workspace of remotely located robotic manipulators is presented herein. An architecture that supports decoupled remote teleoperation is briefly described, and used to control the manipulator during recovery of an object's compliance parameters. These parameters are based on the Kelvin-Voigt contact model and estimated in simulation as...
This paper presents a distributed control approach to shape control of a multirobot group. Upon definition of the desired region that robots converge to, a multilevel based topology is designed within the desired region, and formations of different shapes can be constructed using the proposed topology. A market based auction algorithm is further developed to drive the robot group towards particular...
States of human teleoperator have great impacts on teleoperation. However, most research investigated the stability or telepresence of the telerobotics, but few of them focused on the effect of the teleoperator. This paper presents an on-line skill assessment method in the teleoperation, based on a new concept named by skill of teleoperator (SoT), which represents the skill level of the human teleoperator...
In this paper, a Simple Personal Identification (SPI) method using Dress Color Information (DCI) for a guide robot is proposed. The DCI is a small number of color information that is only calculated at narrow areas around a user's (guided person's) joint positions obtained via KINECT on a mobile robot. The SPI method includes not only the person's skeletal information but also the DCI. This method...
This paper presents an image-based velocity control method for a VTOL UAV. For increased autonomy, a realtime embedded global motion estimation process using efficient feature tracking was developed. The VTOL vehicle is assumed to be equipped with a minimum sensor suite — i.e. a camera, altitude sensor and IMU — and to hover over a featured flat plane. This paper first presents a fast feature-based...
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