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In this paper, we propose a new internal model control based controller for sensorless force control. Simplification of the proposed controller is discussed, and stability of the controller is proved theoretically. Two controllers based on internal model control are applied to sensorless grasping control on a myoelectric robotic hand. Effectiveness of the proposed controllers is verified by comparative...
This paper presents an architecture extending bottom-up visual attention for dynamic scene analysis. In dynamic scenes, particularly when learning actions from demonstrations, robots have to stably focus on the relevant movement by disregarding surrounding noises, but still maintain sensitivity to a new relevant movement, which might occur in the surroundings. In order to meet the contradictory requirements...
An object lifted with a power assist robot is always perceived lighter than its actual weight. But, the human operator cannot differentiate between the power assisted weight and the actual weight and eventually applies load force (vertical lifting force) according to the actual weight of the object. This faulty force programming (excessive load force) gives faulty motions to the power assist robot...
Two behavioral modes of mobile robot: head for target behavior which is a point attractor and obstacle avoidance behavior which is a point repeller, are constructed based on the stability theory of nonlinear differential dynamical system. An intelligent robot behavioral dynamic navigation model is established based on dynamic approach, which is integrated both target navigation behavior and obstacle...
The importance of the robots for home, public places and many other places are increasing. In order to realize autonomous work in such dynamic and unknown environment, recognizing external world is required. In addition, robots also have to move quickly and work accurately. In this paper, the control system for a two wheels driven redundant mobile manipulator with a monocular camera as a visual sensor...
We consider the problems of a wheeled mobile robot navigation and guidance towards an unknown stationary or maneuvering target using range-only measurements. We propose and study several methods for navigation and guidance termed equiangular navigation guidance (ENG) laws. We give mathematically rigorous proofs of convergence and stability of the proposed guidance laws. The performance is confirmed...
The angular vestibulo-ocular and opto-kinetic reflexes (aVOR and OKR) combine to provide compensation for head rotations in space to help maintain a steady image on the retina. We previously implemented an artificial angular vestibulo-ocular reflex with a fully articulated binocular control system in a quadruped robot head. In this paper, we describe the implementation of artificial opto-kinetic and...
This paper aims to explore the principles of biomimetic biped walking in the sagittal plane. Firstly, a new walking pattern denoted as two-point-foot walking pattern is proposed according to the structure of the foot of human being. Secondly, the energy cycle of the new walking pattern is investigated. Based on the features of the energy cycle, a multi-scale predict algorithm is developed to estimate...
This paper presents a task-space robot controller composed of two nested loops. The inner loop corresponds to a proportional derivative joint controller and the outer loop consists of a proportional integral controller fed by task space measurements. Stability is studied by means of the Lyapunov method and a visual servoing application is considered for experimentally assessing the performance of...
A theoretical framework for generating navigation behaviour patterns in mixed human-robot groups in complex environments is proposed. This framework represents an essential part in the development of a multiple robot-human system for assisting fire-fighters in search and rescue operations in the GUARDIANS project. In order to produce the desired behaviours an artificial potential field method has...
This paper presents the development of Inverted Pendulum System at King Mongkut's Institute of Technology Ladkrabang (KMITL), including the designing, construction and control system design. The stabilizing of an unstable system in optimal control scheme via state-space approach is applied. The LQG controller design examples including the addition of the quadratic derivatives of state variables term...
The design of an autonomous navigation system for mobile robots can be a tough task. Noisy sensors, unstructured environments and unpredictability are among the problems which must be overcome. Reservoir computing (RC) uses a randomly created recurrent neural network (the reservoir) which functions as a temporal kernel of rich dynamics that projects the input to a high dimensional space. This projection...
This article presents hierarchic control architecture, with stability reflexives behavior for a four-legged mobile robot, by using fuzzy controllers and a dual-axis accelerometer. This article blends the conventional control application with fuzzy logic to get reflexives behaviors which enables the robot to react to the balance instability, improving its performance to navigate.
An LQG control strategy is proposed and tested for a wheeled inverted pendulum robot. We show how a reduced set of sensors, as compared to other solutions that can be found in the literature, can be used to observe all state variables of interest for stabilization. A Kalman-Bucy estimator is used to estimate the unmeasured variables and to filter those that are directly measured. An LQR feedback strategy...
In this paper, we introduce a wall climbing robotic system for visual inspection of man-made structures. The adhesion mechanism of our system consists of an impeller and two-layer suction seals which provide sufficient adhesion forces for supporting the robot body on the non-smooth vertical wall and horizontal ceiling by generating pressure difference between the inside of the pressure chamber and...
The use of wireless network signal strength proposed to estimate the relative position between vehicles in a robot formation set. We propose a relative leader-follower model which allows us to use the reception signal strength as control variable for robot stabilization in the formation. Vehicle sensors consist of wheel speed and steering angle, the WiFi data consist of reception signal strength (RSS)...
This paper addresses the issue of implementing an intelligent velocity controller on the Platform for Ambulating Wheels (PAW). The PAW robot is a hybrid quadrupedal wheeled-legged robot that can bound, gallop, roll and brake at high speeds and perform inclined turning. The goal of implementing intelligent control is to increase the robotpsilas versatility and autonomy in order to traverse various...
In this paper a novel sensor fusion algorithm suited for embedded systems is presented. The algorithm is based on Fast-RLS and is able to operate in a finite precision computational environment; the proposed algorithm is capable of maintaining its stability in a wide range of operative conditions as shown in the simulation tests. Simulated results are included.
Stability fulfilment for biped robots is drastically essential. Thus, to predict and maintain a dynamic stable status of biped robots defining an accurate stability measure is required which can represent dynamic equilibrium condition. Several postural stability metrics have been proposed so far. In this article, the Moment-Height stability (MHS) measure which has been previously proposed for wheeled...
This paper introduces a novel distributed algorithm for deploying multi-robot systems, consisting of mobile robots with limited onboard sensing and wireless communication ranges, to approach the desired sensory coverage over targeted environments while maintaining communication connections. A virtual potential energy is defined for each mobile robot according to the difference between the actual and...
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