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Over the past decade, pneumatic muscle actuator (PMA) has been in the limelight and receiving much attention not only in the field of industrial application as well as in prominent research areas such as robotics and biomedical engineering. The uprising can be accorded to the many advantages that PMA offers such as inherent compliant safety, low maintenance and powerful. However, PMA has yet to emerge...
A sliding mode control is developed to solve the tracking control problem for an inertia wheel pendulum. The desired trajectory is centered at the upright position where the open-loop system becomes a non-minimum-phase system. As a first step towards the solution of the tracking control problem is the reference trajectory generation where we develop a reference model, based on the two-relay controller,...
The paper deals with the following topics: friction modeling; compensation; motion control; mechatronics; network-based control systems; control nonlinearities; biped robots; image processing; intelligent motor drives; mobile system control; sensors; force interaction control; haptic interfaces; servo control; robot muscular-mechanism; hard disc drives; force sensorless control; vibration control;...
Bucket wheel reclaimer (BWR) has been widely used for stacking/reclaiming bulk materials (i.e. iron ore) onto/from stockpiles in mining industry. Generally speaking, current BWRs are manually operated, remotely operated, or automated to simply follow predefined trajectory patterns. BWRs are very large in size, heavy in weight, expensive in price and slow in motion. It is commonly agreed in the industry...
This paper proposes a method for a biped robot to walk on uneven terrains. For stable locomotion, it is necessary for the biped robot to adapt to the ground conditions with suitable foot motions and to reduce the magnitude of the ground reaction forces (GRFs) applied at the feet that are in contact with the ground. This paper suggests the impedance control scheme with a variable desired force to reduce...
This paper investigates the search probability and camera footprint of region coverage for UAVs. Two kinds of search probability by using the UAV camera are proposed. Moreover, the relationship between the UAV altitude and the camera footprint is also studied in this paper. Some formulars concerned with the UAV camera footprint are developed in two cases: flat flying and roll motion, and yaw motion...
Effective prediction on the states of moving objects paves the way for successful motion planning. In this paper, particle filter is used to predict the robot position and velocity and the experimental results of target prediction in robot path planning are presented to verify its performance. Particle filter can also be combined with the system overall strategies to plan its motion and improve the...
An energy based control problem of the pendubot in terms of normalized quasi-velocities (NQVs) is considered in this paper. Introducing the NQVs vector together with generalized coordinates leads to first-order equations of motion with the identity mass matrix of the system. The obtained differential equations are next used to design decoupled controller for stabilizing the system around one of its...
In robot constrained motion problems with frictional contacts, uncertainties on the contacted surface slope distort control targets and affect the control system performance. The surface normal direction cosines are in this case uncertain parameters that are involved in both the control law and the control targets. This work proposes an adaptive controller that achieves the desired goal given a persistently...
To solve the problem on automatic behavior control of a micro wall-climbing robot when its suction foot was not fulfilled enough vacuum pressure on an unsmoothed wall, a motion control method based on initiative exploration was proposed. Firstly the basic gaits of the micro wall-climbing robot were analyzed. Then a finite state machine model of the suction foot of the robot was introduced. In addition,...
We present an optimal timing control formulation of the problem of controlling autonomous puppets. In particular, by appropriately timing the different movements, entire plays can be performed. Such plays are produced by concatenating sequences of motion primitives and a compiler optimizes these sequences, using recent results in optimal switch-time control. Experimental results illustrate the operation...
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