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Most humanoid robots walk with bent knees, which particularly requires high motor torques at knees and gives an unnatural walking manner. It is therefore essential to design a control method that produces a motion which is more energy efficient and natural comparable to those performed by humans. In this paper, we address this issue by modeling the virtual spring-damper based on the cart-table model...
In this paper, a distributed motion control system is designed and achieved for the modular quadruped robot based on CANopen network. A communication network is built among modules and joints through CANopen network. Controllers and encoders are used to achieve closed-loop control belonging to speed and position for each joint and complete real-time multi-jointed linkage. Moreover, experimental results...
In this paper, we design a teleoperated mobile Manipulator with 8 joints which includes two-driving wheels and 6 arm joints. The workspace of the studied mobile manipulator is much large than that of a fixed-base one. The goal of the mobile manipulator is to track a desired trajectory of space curves in a fixed reference frame. First, by using redundant joints, the motion capability of the end-effector...
The Kuka Control Toolbox (KCT) is a collection of MATLAB functions for motion control of KUKA robot manipulators, developed to offer an intuitive and high-level programming interface to the user. The toolbox, which is compatible with all 6 DOF small and low payload KUKA robots that use the Eth.RSIXML, runs on a remote computer connected with the KUKA controller via TCP/IP. KCT includes more than 30...
In order to eliminate the drawbacks of conventional force feedback gloves, a new type of master hand has been developed. By utilizing three ??four-bar mechanism joint?? in series and wire coupling mechanism, the master finger transmission ratio is kept exact 1:1.4:1 in the whole movement range and it can make active motions in both extension and flexion direction. Additionally, to assure faster data...
In this paper two novel methods of encircling objects for the purpose of grasping them are demonstrated and compared. Firstly, a method that does not require in-depth models or sophisticated external sensors is described. Such a method does have its disadvantages such as requiring tuning on the part of the operator to work correctly. Therefore, the paper also describes a new method that plans where...
The paper presents an introduction of virtual reality environments to the commercial single-joint rehabilitation robot. A dynamometer has been modified to the level that enables gait goniogram based position control. The robot mimics the isolated joint movement while the subject is required to perform the task in the virtual environment. The subject generates joint torque to control the object in...
In recent years, parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. Practical methods of kinematic's calibration make use of the linear differential error of the kinematics' model....
Since the advent of the robots, they are widely applied in many areas of industry all over the world. With the advancement of the robot, many new research theories and technologies are developed on it. The single one impacted much more quickly and significantly is the application of computer offline simulation technology nowadays. Based on some relevant theories of robot, this paper suggests a new...
With the increasing use of smart weapons and sensors, there is a need to consider potential areas of improvement that could positively affect large numbers of systems with common concepts and approaches. One area that lends itself to this desire is the improvement of high precision high bandwidth antenna and mirror steering systems that can be utilized across a broad range of sensor systems. Pointing...
This contribution discusses the advanced technologies integration: the PERCRO light-exoskeleton and the PERCRO data-glove wherein the main pursuit is the enhancement of the human grasping skills inside virtual environments. The mastering of motor human skills for taking up, lifting or manipulating objects during grasping tasks, could be effectively enhanced thanks to the inclusion of an arm exoskeleton...
The study presented in this paper aims at achieving optimal paths for a human-performed assembly task. Optimality, from an operator's point of view, means that minimal fatigue occurs. Trajectories for assembly parts, generated by potential fields, are optimized in terms of the work the operator has to do. Optimization is carried out by genetic algorithm. The trajectories have to satisfy the constraints...
In this study, we propose a novel grip-type haptic display for controlling a virtual (or robotic) hand (Fig. 1). This grip-type haptic display enables us to control a virtual hand and perceive haptic information based on a reactive force and a spatially distributed tactile feedback. Because this proposed display does not need any actuators to produce the reactive force, a simple haptic display is...
A formulation based on Danevit-Hartenberg was educed for the dynamics and kinematics equation, the virtual model of humanoid robot based on Pro/ENGINEER was developed. The simulator, which is the virtual counterpart of the hardware robot platform for humanoid robotics, can emulate the dynamics of the robots and test the control algorithms. The controller can handle a dynamic balance control, a biped...
This paper describes a joint trajectory optimized controller for a humanoid robot simulator following the real robot characteristics. As simulation is a powerful tool for speeding up the control software development, the proposed accurate simulator allows to fulfil this goal. The simulator, based on the open dynamics engine and GLScene graphics library, provides instant visual feedback. The proposed...
For the purpose of preventing a free-falling object from damage, this study is devoted to the landing posture control via trajectory planning for a generalized twin-body system by employing the methods of PD and sliding control. The system discussed herein is the simplified model of a free-falling cellular phone with two rotational DOFs. In this paper, the governing equations of the system are first...
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