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To improve the efficiency of multi legged climbing robot, a dynamic climbing gait is proposed for a gecko inspired mechanism with a pendular waist and linear legs (GPL). Then, a mathematical model is built and the kinetics of the climbing gait is illustrated. Trajectory of the waist, identical to centroid of the GPL model, is also discussed in this paper. The forces at the feet of GPL are calculated,...
This paper considers maneuvering control of planar snake robots, for which the equations of motion are described based on a simplified model. In particular, we aim to stabilize a desired straight line path for the position of the center of mass of the robot, and to regulate the forward velocity of the robot along the path to a constant reference velocity. In order to solve this problem, we first stabilize...
This paper proposes a scheme for manipulating the posture angle of a passive object using an active plate. The scheme was evaluated on a rigid spherical object called a tumble doll. During the test, the object and active plate were subjected to cyclic movements. The object angle and angular velocity were combined into a state vector, and the cyclic motion was expressed as a nonlinear discrete system...
Many works have been done for controlling nonlinear systems using bio-inspired methods. In this paper, we propose an optimal intelligent controller for an Unmanned Aerial Vehicle (UAV). The controller consists on a type-2 fuzzy system with defuzzifier step was determined through Ant Colony Optimization algorithm (ACO). It is known that, ACO and Particle Swarm Optimization (PSO) algorithm are the most...
In this paper we analyze characteristics of the ground reaction force (GRF) experienced by the legs of the quadruped robot during stance phase in walk gait, in particular, when the height of center of gravity (COG) of the quadruped robot is changeable. We also build the dynamics model of the quadruped robot. Two dynamics equations during swing phase and stance phase are established, respectively....
In this paper, we present a mechanical design of a conceptual hybrid autonomous underwater vehicle (H-AUV) which combines the features of both a propelled underwater vehicle and those of an underwater glider. We develop its dynamic model and perform several simulations to showcase its locomotive capabilities. The main contribution of the paper is in the proposed motion planning technique to solve...
Two wheeled inverted pendulum (TWIP) robot is widely used in various applications for its zero turning radius, small footprint and other advantages. However, the traditional TWIP robot can not keep upright when climbs or descends on a slope, which makes the operator sitting on the robot feel unsafe and uncomfortable. This paper introduces a Multi-DOF TWIP robot, which adding a movable weight to the...
In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate...
This paper presents an averaged model of the velocity dynamics of an underwater snake robot, suited for stability analysis and motion planning purposes for general sinusoidal motion gait patterns. Averaging theory is applied in order to derive a model of the average velocity for a control-oriented model of an underwater snake robot that is influenced by added mass effects (reactive fluid forces) and...
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