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In this paper, we consider a novel approach to control the timing of motions when these are encoded with autonomous dynamical systems (DS). Accurate timing of motion is crucial if a robot must synchronize its movement with that of a fast moving object. In previous work of ours [1], we developed an approach to encode robot motion into DS. Such a time-independent encoding is advantageous in that it...
This paper presents the kinematic analysis of a new 6-DOF haptic interface and control system analysis for the tele-operation of 6-DOF serial robot. The haptic interface consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low mass moment of inertia, quick motion, big rotation, and large applied torques. Kinematics for position and differential...
In this paper, we consider a multi-robot cooperative control problem via a robust consensus tracking algorithm. The main objective of this paper is to develop and implement a multi-robot formation control testbed and use it to verify the effectiveness of a cooperative control algorithm developed in our recent work. In the robust consensus tracking algorithm, an observer is developed to identify the...
This paper presents control methods and simulation experiments of wheeled skid-steering mobile robot trajectory tracking on the rough terrain. According to dynamics analysis of the robot, a motion constraint of the robot is put forward. To address the issue of uncertain disturbance factors during the robot running on the rough terrain, a practical fuzzy lateral control law is presented, and the globally...
Trajectory planning and optimization is a fundamental problem in articulated robotics. It is often viewed as a two phase problem of initial feasible path planning around obstacles and subsequent optimization of a trajectory satisfying dynamical constraints. There are many methods that can generate good movements when given enough time, but planning for high-dimensional robot configuration spaces in...
This paper describes a biped walking pattern generation by using preview control with virtual plane method. It is important for biped robots to generate desired walking patterns which satisfy given Zero-Moment-Point (ZMP) trajectories. Solving ZMP equation is one of the key issues in the biped walking research field. Many kinds of the solutions have ever been proposed. One of the most efficient solutions...
The bipedal robot has a better mobility than the wheel based robot but, its structure is not stable basically. In various environments, it's necessary that the center of the gravity moves properly to get flexible and efficient walking pattern for the walking stability. In this paper, walking trajectory function consistent with constrain in each joint is realized to generate flexible walking pattern...
This paper presents a novel robust framework for online walking control that uses the estimated actual posture of a robot for frequent pattern generation. The motion status in the absolute coordinate system is estimated by using an attitude sensor, and the estimated status is used as the initial condition of the next online pattern generation, so that the walking pattern generator can effectively...
This paper reports results of an investigation on the degree of influence of short-term memory mechanisms on the performance of neural classifiers when applied to robot navigation tasks. In particular, we deal with the well-known strategy of navigating by ??wall-following??. For this purpose, four standard neural architectures (Logistic Perceptron, Multilayer Percep-tron, Mixture of Experts and Elman...
In this article a novel concept for specification of spatial paths for mechanism and kinematic design applications is presented. Mechanism designers use e.g. sketches for specification of motion curves. If these are created based on oral description, misunderstanding or inadequate formulation are sources of error. Further, it is difficult to generate them for spatial problems. The presented approach...
In this paper, a novel method to synthesize a desired trajectory and sensory feedback control laws for robots based on the statistical characteristics of direct teaching data by a human is proposed. This work was motivated by a poor performance of an origami-folding robot developed by the authors. Since the robot simply replayed a given trajectory without sensory feedback control, it often failed...
Navigation of a car-like robot in environments with unknowns requires effective on-line planning of nonholonomic trajectories. We propose a set of basic maneuver patterns based on Bezier curves that allow either forward or backward motion as building blocks to create nonholonomic trajectories quickly, given a sequence of knot positions/points (e.g., from some GPS navigator). These maneuver patterns...
In this study, a controller for robotic motion based on neuroscientific principles was developed and implemented using an artificial neural element and a conventional robotic arm. With independent control over arm final position, velocity, acceleration, and deceleration, this system offers a more smooth, efficient and life-like motion than conventional open-loop methods. The system makes use of a...
The problem of multi-robot cooperative localization based on relative bearings is researched in this paper. Relative bearings of different robots are fused with motions to improve the localization accuracy of robots. We analyse the situations about relative positions of the robots and their motion trajectories. Some relative positions and motion trajectories of the robots easily lead to not-converged...
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