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This paper studies a formation control problem for multiple mobile robot systems with model uncertainty. The formation is achieved by a distributed robust predictive control algorithm. Firstly, a distributed model of the formation system is derived by using the path tracking error dynamic of single mobile robot. Considering the error of linearization and measurement error caused by the accelerometer...
Due to the great performance in complex and narrow spaces, snake-like robots, especially snake arm robots, have gained increasing attention in recent years. In this paper, a novel cable-driven snake arm robot is proposed. For greater flexibility, the snake arm not only has multiple two-degree-of-freedom joints, but also has telescopic modules that have one degree of freedom. The kinematics and statics...
In this paper, a radial basis function neural network was used to solve the robot arm with 4 DOF of a self-designed service robot. Firstly, the D-H model was established for the manipulator and the analysis of forward kinematics was carried out, and the transition relation between the connecting rod coordinates was obtained. Then, according to this relationship, the sample data from joint space to...
This article intends to provide an overview of the state of art in developmental models of cognitive robots. With the development of artificial intelligence, robots have been able to perform a variety of complex tasks controlled by human. However, it is still a challenge for robots that they can explore and develop their cognitive ability in the specific environment like human beings. The current...
According to China's space station operation and maintenance requirements, this paper first discusses the dual arm robot astronaut mission requirements and design principles. Then the robot's configuration, anthropomorphic robot arm and its driving joint, five fingered dexterous hand, head, neck and other mechanisms are designed in detail. A distributed control scheme for the robot is proposed. The...
According to the problem of point-to-point global path planning, this paper presents an A∗ algorithm based on the grid map and V-graph (Visual graph) environmental model for the mobile robot to obtain the optimal path. The algorithm mainly consists of three parts, namely building the grid map, designing the visual point-to-point lines and devising the search strategy of the path planning. The quantized...
This paper presents the cooperative control design for multiple nonholonomic robots. The control objective for the multi-robot system is to rotate around the moving target with the desired radius and equal angle spacing of inter-robot. The distributed control law in the global coordinate frame is proposed using backstepping techniques to achieve asymptotic convergence to the desired motion. Under...
The arm-wheeled robot with new obstacle-climbing concept is designed using Creo3.0. The three-dimensional model of the robot which is created using Creo3.0 is imported to Adams2013 to establish the virtual simulation model. Through the construction and simulation analysis of multiple obstacle terrain environment, the gait planning and the obstacle-climbing performance are studied in different unstructured...
In this paper, based on the Solidworks wheel-assisted exoskeleton robot design and strength analysis, this paper designs the whole program by analyzing the strength of the bionic structure of the lower limb, and the design of the whole program to optimize. Simple structure design to expand the external skeleton robot in various fields of auxiliary functions, improve the wearer on the auxiliary walking...
An improved method based on the D-H method is proposed for a 5-DOF manipulator with special structure which is difficult to establish joint transformation by using normal D-H method. The forward kinematics of this manipulator with special structure is established by adding virtual joint. The method is suitable for manipulators with rotating joints, and the coordinate transformation must be achieved...
This paper presents a method of kinematics modeling and trajectory planning for NAO robot object grasping. In order to judge and grasp objects autonomously, this method combines the image analysis and kinematics knowledge. Firstly, the collected images by the NAO robot are processed through threshold segmentation and median filtering. According to the shape information of the object, the NAO robot...
As the walking speed of the discontinuous crawl gait of the quadruped robot is rather slow, an optimized method is proposed for improving the forward walking velocity. To ensure the walking stability, the adjustment process of the center of gravity (COG) of the robot is divided in two types, lateral movement and forward movement respectively. Based on the definition of the inner support polygon, the...
Intelligent Wheelchair Bed (IWB) is an important direction. And it is also one of the most active research direction in the robot field. In this work, the obstacle avoidance algorithm based on the Artificial Potential Field (APF) using ultrasonic sensors is proposed and realized in order to achieve the real-time and continuing obstacle avoidance for the IWB. The IWB can keep on detecting the environment...
In this paper, the authors raise a parity space based fault detection (FD) scheme in closed-loop quadruped robot dynamic control. The complete robot model is simplified to a cuboid, where three perpendicular forces and three perpendicular torques are applied to the center of mass (COM) of the robot model. The closed-loop system of the robot is integrated by a proportional-derivative (PD) controller...
Considering the motion constraints of the robot, an autonomous navigation method based on Bug algorithm was proposed. Combining Dubins path and Bug algorithm, in the process a robot moving from initial pose position to final pose position, a path satisfied the robot's kinematics parameters was planned. Firstly, the robot moved along the initial Dubins path from initial pose position to final pose...
Real-time and accurate robot detection and localization is important for the RoboCup Middle size League (MSL) soccer robots. In the current robot detection methods used by most of the teams, the black-color-based information is used to distinguish robots from the environment, which is not robust if the robot changes its makers' color according to the current rule. Considering the good performance...
This paper first establishes the kinematic model and dynamic model of Selective Compliance Assembly Robot Arm(SCARA) robot based on Denavit-Hartenberg method and Lagrange equation. Then the model is simplified to reduce the computation, the kinetic equation is transformed into a linear form to get the observation matrix and the parameters to be identified. An incentive trajectory is designed to finish...
It is one of the main directions of robot development to improve the security of robot and realize the safe human-robot collaboration. Collision detection is its basic function. In this paper, a robot collision detection algorithm based on robot velocity deviation is innovatively proposed. Due to the delay of the robot servo system, the actual velocity lags behind the ideal calculation velocity. The...
Aiming at improving the level of the Human-Robot Interaction (HRI), a novel HRI system based on 3D mapping and virtual reality (VR) is proposed, in the background of rescue robots. In the HRI system, the rescue robot constructs a 3D map in the complex post-disaster environment based on a multi-line LiDAR and an inertial measurement unit (IMU) in real time. The map is represented using 3D-NDT, which...
In this paper, a local path planning algorithm based on particle swarm optimization is adopted. The obstacle avoidance principle of this method is to build a virtual robot on the edge of the obstacle and allowing it to move along the edge of the obstacle. The information of the virtual robot can be given based on the message of the actual mobile robot. The corresponding cost function can be designed...
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