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This paper presents a recursive and parallel formulation for the dynamics simulation of large articulated robotic systems based on the Hamilton's canonical equations. Although Hamilton's canonical equations exhibit many advantageous features compared to their acceleration based counterparts, it appears that there is a lack of dedicated parallel algorithms for multi-rigid body dynamics simulation based...
A multi-finger dynamics model has been presented in this study, which contains a single finger dynamics model equation and a restraint equation between fingers based on Lagrangian multiplier controller. To validate the model, an EtherCAT master and slave platform has been developed based on FPGA. Meanwhile, the multi-finger dynamics algorithm has been designed in the TwinCAT. Finally, the experiments...
Path planning in continuous spaces has been a central problem in robotics. In the case of systems with complex dynamics, the performance of sampling based techniques relies on identifying a good approximation to the cost-to-go distance metric. We propose a technique that uses reinforcement learning to learn this distance metric on the fly from samples and combine it with existing sampling based planners...
The paper deals with the dynamic modeling of bio-inspired robots with soft appendages such as flying insect-like or swimming fish-like robots. In order to model such soft systems, we propose to use the Mobile Multibody System framework introduced in [1], [2], [3]. In such a framework, the robot is considered as a tree-like structure of rigid bodies where the evolution of the position of the joints...
This paper presents the dynamic modeling of floating systems with application for three-dimensional swimming eel-like robot and rowing-like system. To obtain the Cartesian evolution during the design or control of these systems the dynamic models must be used. Owing to the complexity of such systems efficient and simple tools are needed to obtain their model. For this goal we propose an efficient...
This paper deals with joint stiffness off-line identification with new closed loop output error method which minimizes the quadratic error between the actual motor force/torque and the simulated one. The measurement of the joint position and its derivatives are not necessary. This method called DIDIM (Direct and Inverse Dynamic Identification Models) was previously validated on rigid robots and is...
Offline procedures for estimating parameters of robot dynamics are practically based on the parameterized inverse dynamic model. In this paper, we present a novel approach to parameter estimation of robot dynamics which removes the necessity of parameterization (i.e. finding the minimum number of parameters from which the dynamics can be calculated through a linear model with respect to these parameters)...
This paper proposes a balance control algorithm which uses Zero Moment Point (ZMP) in order to improve the mobility of leg-wheel hybrid structures on hard, flat surfaces. The algorithm generates balancing leg motions which continuously adjust the contact points to allow the geometric center of the contact area to follow ZMP. During our simulation of a balance control system which uses Individual Joint...
In this paper parameter-free concepts for exact motion planning are investigated. With the proposed RDT+ approach the collision detection parameters of a Rapidly-exploring Dense Tree (RDT) are automatically adjusted until an exact solution can be found. For efficient planning discrete collision detection routines are used within the RDT planner and by verifying the results with exact collision detection...
We propose a scheme to deal simultaneously with local motion planning and dynamic control of redundant cooperative robots subject to holonomic, posture and loop-closure constraints. In contrast to previous contributions, an iterative method, that glue together the problem of kinematic motion planning with dynamic control, generates the sequence of feasible collision-free motions by combining in a...
This paper presents a dynamic object grasping strategy based on the predictive control algorithm. Simulation results and preliminary experiments show that the control method is able to complete the dynamic object grasping with this strategy.
A novel progressive genetic algorithm is developed for motion planning of a three-limbed robot. The proposed motion planning method can be used to find a optimal joints trajectory from the initial to the final position and orientation. On the basis of the genetic algorithm a kind of variable structure genetic algorithm is proposed to solve the problem of motion planning of the three-limbed in dynamic...
Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) systems must be carefully designed and implemented on robots in order to guarantee safe and reliable operations. In addition, many high performance robotic controllers require full state feedback; hence it is essential to implement state...
Subaqueous robot is an altitudinal linear, multivariate and strong coupling system working in a very complex condition and is interfered strength. Aiming at controlling the motion of subaqueous robot is very difficult, in this paper, one dynamic model in which wave force is considered is constructed; and one multiplexed control method based on CMAC and PID is designed. Thus the subaqueous robot has...
A novel progressive genetic algorithm was developed for motion planning of a three-limbed robot. The proposed motion planning method can be used to find a optimal joints trajectory from the initial to the final position and orientation. On the basis of the genetic algorithm a kind of variable structure genetic algorithm was proposed to solve the problem of motion planning of the three-limbed in dynamic...
Interestingly in different situations, human not only plans differently for approaching, accompanying, passing by and avoiding another person, but also smoothly maintains an appropriate distance. But for a mobile robot it is not trivial at all, while also maintaining its goal. In this paper we present a generic framework of mobile robot path planning for adapting social rules at different states of...
This paper presents a dynamics simulator that can handle complex robotic systems including position-controlled joints and closed kinematic chains. We first extend our prevous algorithm for linear-time forward dynamics algorithm to handle closed kinematic chains. The extended algorithm is formally presented for the first time. We then present another extension that allows position-controlled joints,...
The modified transpose Jacobian (MTJ) algorithm is a recently proposed algorithm used in manipulator control. Based on an approximated feedback linearization approach the MTJ does not need to a priori knowledge of the plant dynamics. In this paper, this scheme is extended to the complicated control problem of underactuated robots in Cartesian space. Based on the notion of transpose effective Jacobian,...
In this paper, we present a recursive method for the optimization of humanoid robot motions. The method is based on an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically. The algorithm makes use of the theory of Lie groups and Lie algebra. The main objective of this method is to smooth the pre-calculated humanoid...
In this paper, we consider the problem of determining an optimal trajectory for the execution of class of robot tasks using a learning-adaptive robot control systems. A quadratic cost functional which involves the reference trajectory and the actual control efforts is optimized on-line while the robot is learning how to execute the tasks. The control-optimization scheme presented in this paper has...
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