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Identifying a robotic system, especially in presence of some nonlinear phenomena, such as friction and backlash, is a troublesome problem. In this paper, initially single link parameter identification is discussed. Parameters such as actuators parameter, link inertia, friction and backlash are identified in this section. A combination of actuator's model and a model of two flexible masses in attendance...
This paper proposes an approach of generating the gait pattern that Asian Institute of Technology's Leg EXoskeleton (ALEX) and its wearer can walk safely with the passing criteria of Zero Moment Point (ZMP) theorem for static and dynamic considerations, respectively. ALEX has 12 DOF (6 DOF for each leg: 3 at the Hip, 1 at the knee and 2 at the ankle), controlled by 12 DC motors. The CAD drawing and...
The inverted pendulum problem is well-known as a good application for control engineering. An autonomous robot can use the principle of the inverted pendulum for its design. A two-wheeled robot has both static and dynamic design considerations when using the inverted pendulum principle. This paper investigates the effect of varying mass characteristics on the step response of a self-balancing materials...
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