The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper considers the problem of leader-follower formation control for multiple Autonomous Underwater Vehicles (AUVs) in spatial motions. The objective is to derive a leader robot along a desired trajectory, and make the follower robots keep a desired formation with respect to the leader's configuration in 3-dimensional spaces. Unlike previous studies on formation control of multiple AUVs, hydrodynamic...
It is well-know that many industrial manipulators use an embedded linear PI joint velocity controller to guarantee motion control through proper velocity commands. However, although this control scheme has been very successful in practice, no much attention has been paid to design new PI control structures. The problem of analyzing a saturated PI velocity joint velocity controller is addressed in...
Research objective is motion control of a humanoid robot limb with considerations of characteristics of biological subjects. There are some differences between biological subjects and conventional humanoid robots from the point of its mechanisms and control method. From the point of mechanism, biological subjects have two joints simultaneous drive, which is called bi-articular simultaneous drive....
The ability of walking in a wide variety of terrains is one of the most important features of hexapod insects. In this paper we describe a bio-inspired controller able to generate locomotion and switch between different type of gaits for an hexapod robot. Motor patterns are generated by coupled Central Pattern Generators formulated as nonlinear oscillators. These patterns are modulated by a drive...
In this paper, mobile-hapto with yaw rate control is proposed. Mobile-hapto is a kind of remote control system; velocity of a mobile robot is controlled by a handle robot and, at the same time, reaction force of the mobile robot is transmitted to the handle robot. Conventionally, yaw rate of the mobile robot has not been controlled and the mobile robot is hard to keep their traveling direction on...
This paper describes a nested preview control by utilizing virtual plane for biped walking pattern generation including Center Of Gravity (COG) up-down motion. A preview control is effective to generate the biped walking patterns online. We proposed a biped walking pattern generation in our past research. In the method, biped walking patterns including COG up-down motions were generated by using the...
This paper treats a disturbance cancellation problem for minimizing the effects of reaction forces on position accuracy of a clean-room robot applied with magnetic bearings. The robot is composed of a main body and a ladder arm, and moves without friction at joints owing to magnetic support. The support stiffness is, however, weaker than the conventional bearings, and the ladder arm moves in reaction...
This paper demonstrates the feasibility of controlling motion and vibration of a class of flexible systems with inaccessible or unknown outputs through measurements taken from their actuators which are used as single platforms for measurements, whereas flexible dynamical systems are kept free from any attached sensors. Based on the action reaction law of dynamics, the well-known disturbance observer...
Control for biped robots with toe and heel joints is researched for walking on uneven terrain. In conventional research, a switching impedance controller using rotational torque with the toe and heel joints for adaptation to unknown uneven terrain was proposed. In this research, that controller is modified for the adaptation using vertical reaction force. Additionally, a generation method of force...
Generally, friction/disturbance compensation is an important issue in high-precision motion control applications. In particular, when the system under control undergoes low-speed or reversal motions, the friction force and external disturbances will degrade motion accuracy. Therefore, to achieve satisfactory motion performance, it is necessary to simultaneously compensate for the friction force and...
The present paper introduces a novel standing-up control strategy using Initial Value Compensation (IVC) for a Personal Mobility Robot (PMR). Personal mobility robots, which are wheeled inverted pendulum type mobility-assist devices, have the advantages of a small turn radius, maintaining a level seating posture on a slope, and a small footprint as compared to conventional electric wheelchairs with...
This paper proposes a new smooth touch control for operating industrial robots in unknown environments. The touch control is an useful strategy for the smooth switching from the position control to the force control. Many applications require flexibility to the environments. For example, direct teaching by using a manual control is one of the typical applications. A highperformance force control method...
Recently, doctor and medical care persons are shortage by the aging of population. Thus, support systems using a robot are needed for future medical care. The position controller and velocity controller are used in order to operate the human support system. However, these controllers cannot consider complicate and natural human motion. This paper proposes a method of human support system using motion-copying...
This paper presents a neural networks based discrete time variable structure control and a robust speed estimator designed for a Permanent Magnet Synchronous Motor (PMSM). Radial basis function neural networks are used to learn about uncertainties affecting the system. A cascade control scheme is proposed which provides accurate speed tracking performance. In this control scheme the speed estimator...
This paper presents a new approach for integral sliding mode controller for a class of unmatched uncertain systems. A nominal control is computed using sliding mode techniques which works for unmatched uncertain system. Integral sliding mode is further added to ensure robust reaching phase. A control system for slosh-free motion of a partially filled liquid container is sought. This is representative...
Multiphase electric drives have been recently proposed for applications where the highest overall system reliability, combined with a reduction in the total power per phase, are required. Strategies like Field Oriented Control (FOC) and Direct Torque Control (DTC) have been traditionally used in these high performance applications. In this paper, a Predictive Torque Control (PTC) method is introduced...
The paper reports the control way of visual tracking to a fast moving target with using an active binocular robot. The robot consists of a pair of active cameras and performs as a stereo vision system. The motions of those cameras are controlled independently and achieve rigid visual tracking respectively. The difficulty of visual tracking to a fast target is to suppress the tracking delay, affected...
This paper describes a vision-based method of walking motion stabilization for biped robot with flexible ankle joints. If the biped robot has some mechanical flexibility at ankle joints, then the ankle deformation can be detected from the visual target object position. This means the zero moment point(ZMP) can be related to the visual environment without any force sensor. However, there is possibility...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.