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There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying...
The minimal invasive surgery reducing an incision is required for a tumor resection in the field of neurosurgery. The minimal invasive surgery has many advantages of operations which are less lost of blood and painless using a thin long pole shape surgical instrument. For all those advantages, it has defects of difficulties of visual insurance and limitations of moving surgical instruments. Therefore,...
The ability for tele-operators to derive remote robots' location is crucial: it allows them to develop strategies to perform high level interactions and mainly navigation. In normal conditions, remote robots can perform autonomously such a task by comparing an priori knowledge and local sensed data. For some typical situations, this approach is impossible. Indeed, when remote environments are changing...
Most mobile robot teleoperation require monitoring as well as controlling from a remote location. This engages both the hands and the eyes of the human operator for the whole duration of the operation. Aiming at minimizing the human body engagement by freeing the hands of the operator from the controlling task, previous works by the authors proved that both monitoring and controlling can be achieved...
An Internet-based teleoperation application system is introduced, which is designed to connect with Brain-Computer Interface. The hardware and software parts of the system are included. The system is divided into two parts (master-slave) in the hardware and four parts in the software part. Test results of the system to perform a teleoperation through network are recorded. At last, the usability of...
Android robots that have a human-like appearance have been developed recently. A one of the purpose of android robots is to realize natural communication between human and robot by implementing human-like behaviors. In human communication, since it is said that facial expressions contribute to face-to-face communication effectively as a non-verbal medium, we have been developing the face robot that...
To aim at attaining the control model of an underwater vehicle, an initial method of work-energy principle-based parameter identification is proposed according to the relations of work-energy conversion in the process of a underwater vehicle motion and to the least squares technique. Then identification experiments for a remotely operated vehicle (ROV) are performed in laboratory tank and its parameters...
For the slave flexibility which occurs in space and surgical applications of a tele-manipulation robot system, this paper proposes a two ports model for a tele-manipulation robot system with elastic-joint slave, and the ideal performance analysis is also presented. Then, a new sliding mode variable structure control program is designed in which the impedance control is used for the master device and...
Action planning is one of the pivot issues in robot telecontrol, in which the action instructions are often given by the controller from remote site with the help of vision systems. In this paper, we present a learning-based strategy for action planning in robot telecontrol, in which the parameters of sophisticated actions of the remote robot equipped with a binocular vision system could be pre-scheduled...
For the structural features of the zero-opening servo valve, the master manipulator can't drive itself actuators directly, it can only be driven by the information through the controller indirectly. This process will inevitably affect the response speed of the control system. Force differential between the master and the slave is used as the master's control signal, and the position differential and...
This paper presents a teleoperation system to control mobile robot remotely. A wireless serial communication card is used to propagate information. RF single chip is used to build the serial communication card. As a translucent communication parts, this card connect the control computer with the executive motors under control. Finally the effectiveness of the teleoperation system is illustrated by...
Accurate estimation of a wheeled vehicle is essential to increase the vehicle's tranversibility choices in rough terrain. The knowledge of slip parameters can be used in the development of higher-level strategic control of unmanned ground vehicles such as path planning, trajectory tracking and traction control. In this paper, a sliding mode observer is developed to estimate slip parameters based on...
This paper presents the Dual Arm Free-flying Space Robotic System (DAFSR) which is developed for On-Orbit Servicing to GEO stationary satellite. DAFSR consists of free-flying platform, target detecting system and two space manipulators. In this paper, the mission schedule and the design of the system are described in detail, as well as the target detecting system and the ground tele-operational system...
The safe takeoff of unmanned aerial vehicles (UAVs) under various wind conditions has been a challenging research for decades. We design an automatic takeoff control system based on the Active Disturbance Rejection Control (ADRC). The automatic takeoff control system consists of a taxiing control subsystem, an attack angle control subsystem, a pitch angle control subsystem, and a smooth switch control...
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