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Recently, high performance quadruped robots have obtained extensive attention at home and broad, the related research work was developed in view of how to improve the highly dynamic characteristics, high environmental adaptability and heavy payload capacity of quadruped robots and has achieved certain achievements. In order to improve the highly dynamic characteristics of quadruped robots and through...
An upper extremity motor function mirror rehabilitation method based on Functional Electrical Stimulation (FES) was proposed to provide subject-oriented rehabilitation training for hemiplegic patients with upper limb motor dysfunction. Firstly, recognize the motion pattern of the healthy side by Microsoft Kinect. The motion pattern consists of three kind of mode, i.e. slow speed mode, medium speed...
In order to analyze a five-degree-of-freedom (DOF) manipulator for special applications, this paper establishes its kinematics model firstly, and then analyzes its workspace and characteristics, and gets its inverse kinematics solution. Finally, its advantages and disadvantages are presented. On the basis of kinematics analysis, combining with the typical operating cases, we point out the existing...
This paper investigates the high efficient walking problem of a planar compass-like biped robot with massless feet. The walking manner with the stance foot allowed to rotate about the toe, is considered. A latch attached to the hip is introduced to lock the hip joint, which works when the hip joint retracts to a desired angle, and spring devices are equipped at the ankle joints to reduce the inputs...
This paper presents a robot with double tracks, composed of two segments connected with a joint in mechanical structure. The robot can work like a four-tracked robot for moving on many terrains. Moving posture during robot stairs climbing is discussed, this is a typical case and is useful for designing the robot platform. Static stability analysis of the robot performance on rough terrains is complicated,...
Aimed at the carangidae robotic fish with a multi-joint caudal fin, a circle threshold interval discretion (CTID) method is proposed to fit the traveling wave of the fish body. Firstly, a circle is established by using the known length of tail joint as a radius, and there is a intersection point between the circle and the traveling wave of fish body. Then, the values of error equation are respectively...
The vibration suppressive control problem is a challenge of flexible-joint space manipulators, which is settled by solving the energy optimal nonlinear control problem in this paper. Based on Legendre pseudo-spectrum method, the nonlinear model of optimal control problem is converted into the corresponding nonlinear programming problem. The complex and difficult two-point boundary value problem is...
In allusion to the problem of inadequate motor drive ability and low efficiency in the current research on quadruped robot, this paper puts forward the use of coupling driving leg mechanism to establish quadruped robot and designs coupling driving hip joint of compound motion pattern. It can have compound motion at multiple angles as two motors in hip joint select different directions of rotation...
Based on the excellent mechanical structure of the wheel-foot multi-joint mobile robot, we have strictly deduced the direct and inverse kinematical formulas of the robot's legs. So the theoretical method and technology of gaits control for the wheel-foot multi-joint mobile robot have been explored out. By precisely analyzing the obstacle performance and the workspace of the robot's feet, the constraints...
Fault detection for multi-mode process are becoming a hotspot. By effective mode division and accurate online identification, a multi-mode hybrid data set can be transformed into multiple single-mode data sets, then the traditional PCA-based approach can still be adopt to process monitoring. However, in the treatment of “fast response” multi-mode procedure, the above idea does not seem to apply, which...
Aiming to solve the problem of the accuracy of the states and parameters estimation are greatly influenced by initial values in the polynomial systems, this paper proposes a nonlinear filtering based joint state estimation and parameter identification method in the polynomial systems. Using the results of the least square as the initial values in the Extended Kalman Filtering (EKF) algorithm for estimating...
In this paper, aiming at solving the synchronous problem of multi-finger dexterous hand, we introduced the iterative learning control (ILC) algorithm into the control of the system's synchronous coupling error to ensure the synchronization between finger joints on the premise that the system have good performance. In addition, we introduce a Lyapunov-like composite energy function to analyse the stability...
Online fault diagnosis has been a crucial task for industrial processes. Reconstruction-based fault diagnosis has been drawing special attentions as a good alternative to the traditional contribution plot. It identifies the fault cause by finding the specific fault subspace that can well eliminate alarming signals from a bunch of alternatives that have been prepared based on historical fault data...
Trajectory planning can ensure the robot arm move smoothly and quickly to the target position and realize the humanoid robot hand grasping. In the paper, we proposed a trajectory planning of the H20 humanoid robot arm based on combination function method. It is composed of cycloid and cosine function with different frequency. The combination of cycloid function and cosine function adopted has solved...
This paper focuses on the control of hexapod locomotion based on a model of artificial central pattern generators (CPGs). CPG-based controllers are capable of producing coordinated patterns in open loops and rhythmic activities in certain joints. However, existing methods usually have too many parameters to set and lack unified expressions to achieve desired gaits for multiple legged robots. In this...
This paper extends the General-Weighted Least-Norm (GWLN) method to the control problem of redundant manipulators with time dependent constraints. By defining virtual joints presenting the time dependent constraint and a time-dependent coordinates transformation, a middle kinematic control problem with only joint limits is obtained. We then apply the GWLN method on the middle problem that is time...
In this work, a novel adaptive iterative learning control scheme is designed for robot manipulators with uncertain parameter and external perturbation under alignment condition. The analysis of convergence of proposed control law is based on composite energy function in the iteration domain containing position tracking error, velocity tracking error and parameter estimation error along both the time...
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