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Sense of self-agency has been proposed in psychology field, and it is the sense that I am the initiator or source of the action. Human perception should be considered to design a better interface, so that sense of agency is spotlighted in ergonomics and robotics interface design field. In previous study we concluded that sense of agency is affected by both of a noise and a delay in the case of an...
This paper presents a novel modeling and fabrication technique of semi-soft mechanisms inspired by the origami twisted tower. The twisted tower is a modular origami structure consisting of multiple octagon-shaped layers. This structure can generate linear contraction, extension, and bending. A special geometric construct of this design allows each layer to fully collapse by twisting π/4°. Inspired...
A wheeled mobile robotic system (WMR) is a kind modular robotic, nonlinear and the system subjected to nonholonomic constraints. It is impossible to obtain an exact dynamics model due to unknown parameters, unpredictable and irregular features, external disturbance. This paper proposes an adaptive robust controller to guide WMR to follow the desired trajectory. The cascade control system is applied...
Self-balancing two-wheeled robots (TWRs) have attracted significant attentions over the last decade around the world. However, the traditional controller performs worse when TWR is driven under severe traveling conditions like steep slopes, speed bumps and other uneven terrains on practical pavement, which leads to potential security issues. This paper takes uneven terrains into consideration in system...
In recent years, the system parameter identification attracts attention of scholars and engineers, as the system control precision can be improved with it. In this paper, we take advantage of Hopfield neural network to identify the system parameters. Firstly, a kind of self balancing vehicle dynamic model is proposed. Secondly, the subsystem of the self balancing vehicle is analyzed in the form of...
This paper is focused on motion control of a nonholonomic car-like robot. The main idea of the proposed control method is based on an approximate decoupling of phase-constrained kinematics in order to imitate an omnidirectional robot. In order to facilitate the feedback design, the original kinematics is simplified and represented by a nilpotent homogeneous locally equivalent control system. Next,...
The vehicle using omnidirectional wheels has ability to move in all directions without changing the body direction unlike a normal four wheel drive vehicle. However most of omnidirectional vehicle are designed for using only on flat ground. In this paper, we propose a new type of omnidirectional wheel, “Spiral Mecanum Wheel”, which enables vehicle climb the step. This new wheel consists of spiral...
A wheeled inverted pendulum cannot balance without control, and it is important to save motion in a control range. In some situations, however, to avoid a collision, the maximum acceleration and deceleration must be applied. A motion-planning method for a wheeled inverted pendulum (“body” hereafter)-which uses full performance from all attitudes under hardware constraints-was developed. The developed...
In this research, a small humanoid robot and a bicycle of comparable size are constructed. Like the human rider, the robot is designed to pedal, balance and steer the bicycle. We particularly focus on the design of control system for the robot to balance and steer the bicycle using the handlebar. The control system is novel that it is capable of estimating the uncertain center of gravity of the robot-bicycle...
This paper presents a novel manufacturing paradigm for constructing origami-inspired pop-up robots for future space exploration missions. The new approach uses a textile-enhanced rigid-flex printed circuit board (PCB) to implement a folding robot chassis using robust, spaceflight-tolerant materials, and integrates the robot electronics directly into the chassis for added compactness. The new approach...
In this paper, an electric unicycle system is constructed. Moreover, a model-free adaptive fuzzy control method is proposed for an electric unicycle system real time control. By the control scheme, the electric unicycle system is controlled without accurate system information. The parameters of fuzzy membership functions are adjusted online using the dynamic gradient descent method. In the end, the...
This paper describes the design and tuning of a sideslip estimator, based on data from an inertial measurement unit (IMU), a global positioning system (GPS), wheel encoders, and from the underlying dynamic model of a car. The estimates of position, velkocity, and rate gyro bias terms are also provided as by-products of the proposed methodology. A non-linear dynamic model of a car and realistic models...
To overcome the high time consumption, unreasonable rotation and poor environment adaptability in obstacle avoidance of wheeled robots formation, a strategy combining heuristic path planning function and optimal formation transformation is proposed, and it is applied to AGV (Automatic Guided Vehicle). First of all, a base of common robots formation knowledge and the transformation time is built; Secondly,...
The purpose of attitude stabilization is to stabilize a body about an equilibrium point, usually requiring at least three independent actuations. In practice, however, a control law for an underactuated system with two actuators becomes crucial when one of the three actuators fails during operation, or when the control objective is to stabilize the spin axis of the body about an arbitrary direction,...
A novel active suspension of Mars rover based on six-wheeled rocker-bogie suspension is proposed and the design is given from the 2D modularization concept. The proposed suspension not only can operate as same as normal six-wheeled rocker-bogie suspension, but also provides active fold-unfold ability on the platform, great wheel-legged passing ability in soft terrain and steep slopes. The most important...
The in-pipe cleaning robot (IPCR) is a new equipment for pipelines cleaning. However, most existing in-pipe robots are used to inspection and simple maintenance, etc. They cannot effectively complete the pipelines cleaning works, especially large diameter pipelines. This paper proposes a novel wheeled and wall-pressing type IPCR equipped with new high pressure water jet cleaning device. The whole...
In this paper, we present a Lagrangian swarm model that shows emergent formations of multiple autonomous unmanned ground vehicles (UGVs). The Direct Method of Lyapunov is used to construct the instantaneous velocity of each individual in the swarm. The velocity controllers ensure the cohesion and therefore the stability of the swarm. Via computer simulations, we illustrate self-organizations such...
This paper proposes a novel mechanical structure for power transmission lines inspection robot. The proposed structure composed of two identical lifting arms which are connected through middle girders with two rotational joints. Symmetric mechanical structure is adopted as a whole. There are four mainly units, including motion units, open-close units, pressing units and rotating joints. Walking and...
This paper presents a novel Local-Path Planning approach for an independent four-wheel steering (I4WS) mobile base. The approach smoothly drives and rotates the platform while still following a given path and avoiding obstacles. I4WS vehicles are omnidirectional vehicles, similar to shopping carts, if one neglects the time needed to steer the wheels. However, due to the danger of mechanical parts...
This paper describes a novel methodology for programming grinding tool-paths, tool-path orientations and grinding strategies based on the captured trajectories of a surface finishing tool operated by the Skilled-Operator. In order to extract the grinding parameters and strategy from the trajectory of the skilled operator, the manual tool-path is first segmented into tool-path primitives. The order...
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