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In this paper, we report on a body state and ground profile estimator for a snake-like robot executing a rolling gait to travel from flat ground to a slope. With the help of the estimator, the snake-like robot can adaptively adjust the body shape and locomotion speed by changing the gait parameters for the purpose of tackling a steep slope. Specifically, we propose a repeating sequence of continuous...
A kind of unicycle robot was designed. The mechanical structure can be divided into pitching subsystem and yaw subsystem. A kind of dynamic model was proposed based on Appell Equations. And the linear dynamic model of the unicycle robot was presented by the means of the linearization, ignoring the effects of the high-order items and the multiplications of coupling items. And a sliding mode controller...
The temporomandibular joint (TMJ) is a complex bilateral articulation, and its movements are a combination of hinge movement and gliding movement guided by its articular surfaces. A masticatory robot with higher kinematic pairs (HKPs) simulating TMJ behavior is introduced. Kinematic equations of the HKPs are derived based on three-dimensional kinematics of rigid bodies and differential geometry. Position,...
This paper concerns on an optimal control problem of a robot movement from an initial point to another target point while avoiding obstacles. Previous study had generated a trajectory that should be taken by the robot to minimized the consumed energy while moving with constant velocity. Here, we find the optimal performance index value which minimizes the trajectory length as well as the energy usage...
A two-wheeled self-balancing robot is analyzed in this paper. The dynamic model of this robot is presented based on Appell Equations. The model is divided into two separate subsystems: balance subsystem and direction subsystem, and sliding mode controllers for each subsystem is designed separately. Computer simulation of the controller is taken with Matlab/Simulink. Simulation results show that the...
A kind of dynamic model was proposed based on Appell equations. And the sliding mode controller was designed for the unicycle robot. The dynamic model of the unicycle robot was presented after the linearization, by ignoring the effects of the high-order terms and the multiplications of coupling terms. And the computer simulation including the controller for the pitching, the rolling and the yaw subsystem...
Dynamic performance is one of the most important criteria of the truss robots. In this paper, the purpose is to verify the certain accuracy and feasibility of the rigid-flexible coupled model based on RecurDyn (Recursive Dynamic) and research the dynamic performance of the truss robot by the simulation and experimental methods. Firstly, two critical components of the truss robot are transformed respectively...
This paper proposes a method for omnidirectional locomotion control of a pendulum driven spherical robot. Two continuous rotation actuators control the orientation of a pendulum within the spherical shell. The control system generates desired actuator angles to move the pendulum in the direction of the desired motion in reference to an assumed inertial frame. Additionally, partial feedback linearizion...
Dynamic modeling of robotic systems is always a challenge, not only because of the calculation complexity, but also because of the difficulties in separating basic elements of the system mass matrix, matrix of Coriolis torques, matrix of centrifugal torques, and the matrix of gravity torques. Automatic Separation Method (ASM) is applied and compared with the traditional Newton-Euler (N-E) recursive...
This article discusses the questions of constructing an algorithm for solving differential equations that describe the dynamics of motion of a mobile two-mass mechanical system moving separately from the surface. The presented jumping mini-robot model consists of an external and an internal body, the variation of the angular velocity of which allows us to control the motion.
In the area of biped walking control, the Linear Inverted Pendulum Model (LIPM) achieved a great impact, as it is easily applicable due to its simplicity and linearity. Nevertheless, it is capable to generate stable walking motions on a variety of platforms. However, cost-effective robots tend to have flexibility in joints and links due to the lightweight form-factor and PD controlled joint servos...
This paper focuses on a robotic human-like leg. This robot was designed and modeled for task of kicking soccer ball to desired target. In addition, applications of this robot have been explained and its kinematics and dynamics equations have been developed. Kinematic analysis has been done using Denavit-Hartenberg method and position, velocity and acceleration of center of mass (CoM) of all links...
Technology improvement makes PKM faster and faster. From this speed it appears uncontrolled vibrations which disrupt PKM functioning. The urge to produce modelling enabling to predict dynamic perturbations is more and more important. To this day, linearized dynamic models are incomplete, ignoring account of speed and acceleration over trajectory. In this paper, a complete dynamic linearization will...
It is important for a humanoid robot to be able to move its body without falling down even if the target motion takes its center of mass to the limits of the support polygon. Usually the center of mass is overconstrained to keep balance, but this can make fast motion of the robot upper body or tasks that are far away from the reachable space unfeasible. To achieve these tasks that challenge the robot...
A humanoid robot may suffer from slip since its two feet are not fixed on the ground. Slip occurrence may induce the loss of robot's balance. The previous literature focused on the detection or estimation of the slip occurrence, or only employed the translational acceleration regulation to overcome slip. This study proposes a slip prevention method by coordinating acceleration vector including the...
As has been frequently observed, single-joint movements are characterized by single-peaked, bell-shaped speed profiles. This findings and the tendency of natural movements to be characteristically smooth and graceful led to suggest that motor coordination can be mathematically modeled by postulating that voluntary movements are made, at least in the absence of any other overriding concerns, to be...
The research of this paper is about the control strategy of tracked robots for intelligent transportation based on parallel formation. Firstly, the sliding turning model of tracked mobile robot is introduced and the kinematics analysis of this model based on the pose information is also researched. Then, the problem of tracked robots formation could be reduced to the tracking approach by the theory...
Several swarm algorithms have been presented, but only few of them have been implemented in actual robots. In this paper we present an implementation of a swarm algorithm for some predefined formations. The algorithm is implemented in microcontrollers, which effectively makes the experiment a system of systems. The only input for the algorithm is the position of the robot and the relative positions...
This paper analytically analyzes the porpoising behavior of dolphins and other cetaceans in the context of bio-robotics. Based on the conventional assumption that porpoising saves energy at high speed, the “crossover” speed is recalculated. A dynamic model for a multilink dolphin-like robot within the framework of multibody dynamics is created. Simulations using the dynamic model have been extensively...
This paper presents a new strategy for obstacle avoidance in mobile robots leader-follower formation. The key feature of the algorithm is that the system is robust against absolute acceleration of both leader and obstacle. On the other hand the angular velocity constraint of leader and obstacle is eliminated in the proposed leader-obstacle formation. The formation controller is composed of a feedback...
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