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This paper utilizes a road network robotic system called a ‘Traffic Control Signal’ (TCS). The TCS uses a variety of active sensing (‘active perception of motion’ (APMs)) but the focus will only be on pavement bicycle inductance loops. This leads to an entanglement of functionality of signal processing for motion control of Humans-to-robotic to power recharging, and enhance communications for people...
An investigation is conducted into the performance of passive, semi-active and active electromagnetic dampers. Theoretical models are constructed of the dampers and these are included in two degree of freedom models of the suspension. The passive and semi-active electromagnetic dampers are significantly heavier than commercial hydraulic dampers. In the case of active electromagnetic damper, the reduction...
Nowadays, compliance is required in various research. Series Elastic Actuator (SEA) has been emerged as one of the promising actuator system, since it provides various benefits such as safety, force sensing, energy storing with its inherent compliance. While the SEA contributes not only to the human interacting robot but also to wide robotics area, there is still limitation in performance that is...
Aiming at the trajectory tracking control of AGV in aeronautical manufacturing and automated warehouse, a novel trajectory tracking control method was proposed. Firstly, the kinematic model and trajectory tracking control model of AGV were established. After analysing the reversing problem of AGV in practical situation and the limitations of classic trajectory tracking control method, and based on...
In this paper, a concept design for a robotic exoskeleton for the neurological rehabilitation of temporomandibular disorder (TMD) is presented. The proposed system presents a lightweight, portable solution aimed at promoting user engagement in the rehabilitation process. A literature review into temporomandibular joint (TMJ) disorders and existing therapeutic devices has been undertaken, characterizing...
Replacing nurses and caregivers by human-friendly robots is drawing the attention of the next generation for elderly people assistance and those with special needs. However, the human-machine cooperative control is still a key challenge in this domain. This paper presents a new approach for walking assist control that uses Inertial Measurement Units (IMUs) fixed on elderly people's body to track their...
In this paper, an active modeling approach for a pneumatic artificial muscle (PAM) is being considered. The PAM's nonlinearity, hysteresis and time-varying characteristics cause difficulties in modeling its behavior and designing high-performance controllers. Here, a generalized three-element model of a PAM is proposed to obtain the reference model in the reference mode (in a given small pressure...
In the past decades, many wearable powered orthoses have been developed with the aim of augmenting or assisting motion activities in daily life. Among many applications, they are particularly used to provide lower-limb moving assistance in locomotion-related rehabilitation tasks. This paper presents a wearable active knee orthosis consisting of an active knee joint, a double-tendon-sheath transmission...
The goal of this work is the development of a task-oriented software application that facilitates the rapid deployment of multiple robotic agents. The task solutions are created at run-time and executed by the agents in a centralized or decentralized fashion. Tasks are divided into smaller sub-tasks which are then assigned to the optimal number of robots using Robot Utility Based Task Assignment (RUTA)...
Rotor flying manipulator (RFM), a new kind of mobile robot system being composed of a rotor flying robot (RFR) and a (several) manipulator(s), has absorbed great attentions in recent years because it enables a RFR to complete active tasks such as mastering and transporting objects. However, steady control of the RFM during both maneuvering and operating is of great difficulty due to the heavy force/moment...
There is a demand for autonomous driving control in front-wheel steering vehicles because it is expected to make driving safer and easier and also to reduce the driving workload. In order to perform safe driving with autonomous driving control, it is necessary to consider unexpected disturbances when the vehicle is moving and that tire forces have limitations. We propose autonomous driving control...
This research proposed a high-order disturbance estimation using Kalman filter for precise reaction-torque control. The proposed method is able to realize the reaction torque control system by using the proportional-derivative controller. It is confirmed that the proposed proportional-derivative controller of reaction torque can improve control system performance without enhancing the noise effect...
This paper proposes a design method of multilateral system based on reachability matrix for independent operation. A multilateral system is a one of the haptic transmission control, which is extended structure of bilateral control. If the multilateral system consists of many master system and one slave system, many human can obtain the haptic information of an environment through a slave system. However,...
To achieve force control of an industrial robot, this paper proposes an I-PD force control system based on an instantaneous state observer. The structure of the proposed system is based on a resonance ratio control system and a feedback signal of the reaction force response. In this paper, the gain of a pseudo derivation is designed as the feedback gain. From the results of the designed gains, the...
The article deals with the calibration and simulation of the odometry based on iRobot Create. The mathematical model of robot was built and analysed. In order to calibrate the odometry and modify the parameter in the programme, we carried out UMBmark test. The accumulation of errors was simulated through Kalman filter theory.
This paper proposes the robust H2 controller with constraints for the active suspension using the half car model. The purpose of this study is to improve the ride comfort with satisfying the structural constraints. According to International Organization for Standardization 2631, there exist the uncomfortable frequency bands of the human body. The uncomfortable frequency bands are 4–8[Hz] for the...
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