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This paper proposes a robotic walker with a standing or sitting assistance function. Although many assistance devices in previous works are specialized in only standing assistance or walking assistance, users need standing, walking and sitting assistance continuously from the same device. Our system focuses on domestic use for people who need nursing in their daily life such as elderly people. To...
In this paper a simple control method involving new insertion index selection scheme for control of Modular Multilevel Converters (MMC) is proposed. In contrast with classical closed-loop methods, where all available arm voltages are measured and used in the generation process of insertion indices, this method uses available average voltage, i.e. the arithmetic mean of available upper and lower arm...
The aim of this paper is to develop a robust control algorithm for a five-link biped robot with one degree of underactuation to climb stairs in a natural manner. The biped consists of a five-link planar robot with two actuators at the hip and another two at the knee joints. A robust sliding mode controller is proposed to track gait trajectories while climbing stairs. The control signals are computed...
This paper introduces a novel control system of bipedal robots on uneven terrain. Since this method does not require to measure Zero Moment Point (ZMP), the tracking performance of the controller is not deteriorated by the noise on a measured ZMP. Moreover, the robot withstands frequent perturbations because of its two-degree-of-freedom structure. The robot is stabilized by Center of Mass (COM) regulation...
A model predictive control (MPC) is proposed for a buck-type active power filter (APF) integrated single-phase quasi-Z-source inverter (qZSI) to directly eliminate the dc-side low-frequency ripple power. The buck-type APF operates independently from the main circuit power devices, comparing to the coupled-type APF. The proposed MPC compensates the low-frequency ripple power directly by the APF capacitor...
Connecting legs in parallel in a buck convertor is a way to increase the output current by improving the output's waveforms. By coupling these legs, it is possible to reduce the current ripple and thus the coil volume; however this coupling adds internal variables which must be controlled in order to prevent saturation of the iron core in the couplers and keep the linearity of the system. This paper...
In this paper, we investigate the local stability of a flat-foot limit cycle walking model with compliant ankle joints, and analyze the effects of ankle stiffness and foot inertial and geometric parameters on disturbance rejection. These results can provide a further understanding of local behaviors of different phases in one step and guidelines for stiffness control and flat foot design towards stable...
In this paper, a three-phase five level inverter with new balancing algorithm is proposed using Selective Harmonics Elimination PWM. The inverter is fed photovoltaic generator as dc source. 36 redundant vectors are making use for the 12 unbalance cases of four capacitor voltages instead of 24 cases presented in the previous works. The obtained results show that the frequency of the PWM is unchanged.
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