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Self-organized flocking behavior is often seen in nature in the form of flocks of sheep, herds of cow, fish schools, and swarms of insects. The shepherding problem is concerned with the control of such a group by a small number of guides and has useful applications. The present paper focuses on two unrelated control methods and the similarities between them. Based on these two control methods, we...
Food is important to human for supporting our daily lives. Researchers can perceive food properties through investigation of mastication process. The investigation of in-vivo mastication can be time consuming and inefficient as a panel of volunteers is required. Robotic devices can assist as a platform to carry in-vitro simulation of mastication. This paper proposes a plan of developing a masticatory...
In this paper, a redundantly actuated chewing robot with two higher kinematic pairs (HKPs) is presented, which can be used in performance test and evaluation of denture material. The robot has six actuators, but only has four degrees of freedom, due to constraints of two HKPs which mimic two temporomandibular joints (TMJs) of human. Quasi-static force analysis in occlusion status is performed to calculate...
This paper presents an external hybrid force/pose controller for a robotic manipulator using a cascade scheme with two control loops. In the outer loop there is a force controller that acts as a perturbation for the position reference, whose purpose is to regulate the force applied by the end-effector during the interaction; the inner loop, which is used to control the end-effector pose (i.e., position...
Currently, research on a jumping robot has been actively conducted in the Robotics field. In this paper, we propose a linkage structure of the jumping robot leg. The trajectory and take-off angle are simulated by using a free software, LINKAGE program. Also, we introduced the two types of the propulsion structure.
Pedestrian trajectory prediction is important in various applications such as driverless vehicles, social robots, intelligent tracking systems and space planning. Existing methods focus on analysing the influence of neighbours but ignore the effect of the intended destinations of pedestrians which also plays a key role in route planning. In this paper, we propose a novel two- stage trajectory prediction...
Aiming at the security problem of cooperative robots, this paper presents a low cost collision detection algorithm without torque sensors. In this method, the collision can be detected with the sampling torque and the dynamic model. First, the relationship between the output torque and the motion state of the rotating joint of the robot is established according to the Newton Euler method. For the...
Elderly people have some problems about their decrease in lower limb function. So, there is a possibility of falling and causing serious injury when standing or sitting. The purpose of this research is to construct a system that enables elderly people to receive safe and high quality rehabilitation. At the first, analysis of trajectory of standing and sitting motion is performed. Thanks to the analysis,...
The reducing of energy consumption for transportation and manipulation of industrial objects is a topical issue. The objects of manipulation are gripped with the use of industrial robot and transported from one position to another. In gripping devices, the lifting force is created on the basis of the aerodynamic effect of lifting appearing due to the use of compressed air. The efficiency of functioning...
The inclusion of robots in therapy is becoming common due to robots' power, repetitive motion ability, reprogramming capacity and adaptability to new tasks. In recent years, the demand for rehabilitation services has increased due to the rising number of patients with disability. In this paper, we propose a solution to the rising demand for therapists' services by combining Learning from Demonstration...
To research the effect on the canard rudder aerodynamic layout for the projectile correction, the steering gear model under different aerodynamic layout was established. Various kinds of aerodynamic parameters were obtained through simulation. Through the establishment of the ballistic model of suitable for less spin correction projectiles, the capability of correcting has been received under the...
In this paper we propose a new protocol based on Virtual Reality and a low-cost haptic device for evaluating motion performance during perturbed 3D reaching tasks. The protocol presented herein was designed to assess how different force amplitudes and different reaching directions influence motor performance of healthy subjects. We developed a novel gaming scenario using Unity 3D and the Novint Falcon,...
The authors have studied a motion generation by a wobbling mass attached in the center of a semicircular-shaped body, and showed that generation of a downward motion on a downhill is possible through 4-DOF 1-input underactuated-system with 1-DOF linkage inside the body. The system is, however, difficult to generate a forward motion on level surface. Currently, the authors set the trajectory of the...
This paper describes the prediction and prevention of losing steps in helical teethed linear actuator (HTLA) for artificial muscle. When the rapid external force is applied to the HTLA, it becomes a state of losing steps. Therefore, it is important to predict and prevent this phenomenon. First, we clarified the phenomenon of losing steps in the HTLA by using numerical simulation with 3-D FEM. Next,...
In this paper, for a given Schrödinger equation in quantum mechanics, an interpretation of it is investigated from the stochastic control-theoretic point of view.
This paper presents a method to teach a humanoid robot arm a new trajectory by using human-robot shared control. The robot trajectory is first taught by using the technique of programming by demonstration (PbD). If the environment changes for the learned trajectory, a user can intervene and modify the trajectory by using the proposed control method. We propose a method to modify part of the trajectory...
In this study, we propose an on-line learning system of gait pattern for a wearable robot to assist walking. In our learning system, the cost function is defined by the sum of the measured arm loading force of a user and the power consumption of the motors during walking. We confirmed that the arm loading force decreased with little change of power consumption by using the proposed algorithm.
Permanent magnet linear motors (PMLM) are widely used in high precision machineries. With the removal of the transmission elements, the positioning performances of PMLM are easily affected by parameter variations and external disturbances. Various control approaches were proposed, yet it was noticed that majority of these controllers have complex design procedures, and require accurate model parameters...
This paper proposes a new method for tracking the whole trajectory of a ballistic missile from launch to impact on the ground. Multiple state models are applied for the ballistic missile movement descriptions during different phases, while the transition probabilities are modelled in a state-dependent way. A radar sensor is applied to obtain the missile range, azimuth angle and elevation angle measurements...
A mathematical model of electrically charged plastic particles movement in the free-fall electrostatic separator is discussed based on the theoretical analysis and experimental observation. The formulated model considers both field-to-particle and also particle-to-particle interactions and takes into account stochastic characteristics of the model parameters. Simulation of particle motion, therefore,...
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