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Contribution deal with the measurement of the operating characteristics of the piezoelectric linear motor Linear Piezo LEGS Twin 20N type LT20 and control unit PDM101 both from PiezoMotor. The data processing and evaluation was performed. The motor was tested in a vacuum environment and has been studied primarily precision of positioning (micro-positioning) under different operating conditions.
Inspired by the Silver Surfer comics we developed a leaning-based surfboard interface which allows the user to fly in 3D virtual environments by shifting his/her center of mass on the board. The interface works in either an elastic tilt mode or an isometric balance mode offering different equilibrioceptive feedback to the user. Interested in how different levels of equilibrioceptive feedback influence...
The turning (Direction Changing Walking) is necessary to move a robot all over the working place. However, the disturbance is the serious problem in the turning for example the slipping the feet on the ground or the swing by walking. In this paper, we proposed the robust direction control system that used gyro sensor feedback under environment with disturbance. We analyzed a steady-state characteristic...
This paper presents a method for controlling the zero moment point (ZMP) of walking robots by using spring-mass systems mounted on the robot body. A pair of oscillating spring-mass systems makes a swing motion of the ZMP via periodic change of the spring forces. In contrast to usual methods, where ZMP is controlled through motion planning in terms of joint trajectories, the proposed method is not...
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...
Orientation and position information are indispensable in mobile robot navigation. In this paper, a novel polarization sensor for getting orientation information is introduced. It exports an absolute azimuth angle. To take it effect in mobile robot navigation, a fuzzy logic controller is designed. It can direct the robot walking along the designed trajectory according to the information from the polarization...
Ptinto is a hexapod robot designed to keep the equilibrium when moving around rocky and cumbersome areas during the exploration of the Tinto river in Huelva (Spain). We have developed an integrated planning and scheduling system called PIPSS to control the locomotion of the P-Tinto robot. PIPSS tries to make the better moves for the legs in order to keep the right balance and calculate the trajectory...
The possibility to provide visual impaired walking in an unfamiliar environment with an optimized degree of information about the presence of services and hazards is of primary importance to improve their autonomy and self estimate. In this paper, a mixed inertial & RF-ID orientation aid for the visually impaired is proposed to assist visually impaired people exploring an unfamiliar environment...
The paper describes the control architecture and the motion strategy of a five degrees of freedom robotic leg. The prototype realized is pneumatically actuated, so the control strategy is specifically designed in order to ensure a proper stability during the motion. The control architecture is composed of a three level feedback loop that allows a three dimensional trajectory generation, directly in...
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