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Traditionally, the sensor design for Inertial Sensing of Human movement/posture is done using an accelerometer-gyroscope combination while detection of static or dynamic activities is done using uniaxial accelerometers. A single axis accelerometer-gyroscope combination uses sensor fusion along with a Kalman Filter to estimate the inclination. The inclination is obtained by integrating angular velocity...
Numerous service robots have wheels for motion. Robots with wheels move stably in a 2D plane. At the moment of acceleration, various methods for maintaining stability are required. Most four-wheeled service robots have low velocity and acceleration because of their high center of mass. For high speed and dynamic movement, we need control methods to stabilize the robots. One of the fastest service...
In this research, an equation of motion of a WIP (Wheeled Inverted Pendulum) running on an irregular terrain such as the inclined road is derived. The WIP becomes a popular platform for mobile robots which should be running on not only regular pavement but also irregular terrain. In order for the WIP to run on those roads there requires a robust controller which can be achieved from a fine equation...
The task of solving the adaptive control of a partially and imprecisely modeled electrical vehicle driven by three omnidirectional wheels together with the torque and/or power limits of their electric driving motors is considered. The vehicle is very roughly modeled as a rigid body while the a part of the burden carried by it through elastic connection is completely neglected in the controller's model...
Spherical robot is a special type of mobile robot which spherical structure offers special characteristic of motion, for example it has the capability to recover from collisions with static or mobile obstacles in the same area. In this paper the motion control of a kind of spherical robot based on conservation of angular momentum is discussed. Firstly, the dynamic model of a simplified version of...
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