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This paper focuses on the control system design for a wearable power assist device which provides force/torque support for people who are doing physically demanding tasks. The device is actuated by the McKibben artificial muscle. The McKibben actuator is know to exhibit high nonlinearity between the supply pressure and the contractile length, and it is basically difficult to design a high performance...
Body segment inertial parameters of an exoskeleton and human being are of crucial importance for the development of model-based controllers and for the monitoring of rehabilitation processes. These parameters are usually provided using Computer Aided Design (CAD) models or averaged Anthropometric Tables (AT) for human. However, CAD models are often not sufficiently accurate and particularly if the...
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...
In this paper, we propose a force feedback scheme for Delta device to improve precision and stability in master-slave teleoperation. A simple and exact dynamical equation is created with principle of virtual work, which is easy to calculate in real-time. After analysing three items deep in dynamical equation, a reasonable strategy is designed to identify the mass of Delta mechanism. The identified...
In manned/unmanned-aerial-vehicles team, the workload of manned-aerial-vehicle (MAV) pilot is an important indicator to measure pilot's cognitive state. Evaluating the pilot workload is significant to analyze human-robotics system cognition and intelligent interaction questions. This paper proposed a mathematical model that can measure pilot workload. The model evaluates the workload through three...
Biomimetic robotic fish has potential applications in underwater tasks. To control its swimming, Center Pattern Generator (CPG) models are widely used in its locomotion controllers. The CPG model can generate multiple swimming patterns with the same CPG network. However, there are many parameters to be tuned in a CPG model. In this paper, a parameter optimization method based on particle swarm optimization...
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...
Assembly processes can be affected by various parameters, which is revealed by the measured geometrical characteristics (GCs) of the assembled parts deviating from the nominal values. Here, we propose a mixed-effect model (MEM) application for the purposes of analyzing variations in assembly cells, as well as for screening the input variables and characterization. MEMs make it possible to take into...
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...
We developed a violin playing robot that consists of a bow mechanism and a string shifting mechanism and operates by sound feedback control. The bow mechanism was developed as a 2-degree-of-freedom moving mechanism that can independently adjust bow speed and bow pressure. The string shifting mechanism was also developed as a rigid mechanism that can withstand the high speed motion of the bowing mechanism...
This paper presents the closed loop teleoperation of a minimal surgery training system using haptic and robot devices. The force tracking performances of system can be improved by using dynamic compensation and fuzzy control. In this system, the master is the 6-DOF haptic device and the slave is the 6-DOF serial robot. The master haptic device provides the trajectories for the slave serial robot throught...
A novel set of feedback gain selection conditions pertaining to the swing-up control of the Acrobot using collocated partial feedback linearisation is derived and presented in this research. This set of conditions, collectively known as the gain selection criterion, highlights a region of possible feedback gain combinations, known as the region of appropriate gains (RAG), that will guarantee the unstable...
In this paper, we propose a filter structure to satisfy velocity and acceleration limitations for arbitrary input signals. The shape of step signals is sometimes converted into trapezoidal wave in order to satisfy velocity limit in FA field. Then we can prevent an overload for the robot. In some cases, physical protection of equipments, safety and ride quality are achieved with limitation of input...
Path planning is the one of the most basic research areas in robotics. It simply concern about acquiring a safe path with admissible cost. In this study, we adapt bidirectional rapidly random exploring tree (Bi-RRT) path extraction to visual based configuration space map hosting obstacles and smooth result path with curve fitting models. Firstly, a map of the configuration space is created and robot,...
Inspired by Artificial Bee Colony algorithm (ABC), which is widely employed in various kinds of aspects. However, there is a lack of research on source seeking problem through ABC algorithm. This paper proposes a strategy which utilizes a swarm of robots to accomplish autonomous mutilple-source localization. The location method for the strategy is based on a kind of population based stochastic optimization...
In our previous study, we performed the analysis of pupil response during his or her utterance by using a pupil measurement device and demonstrated that speaker's pupil response dilates with synchronization to the burst-pause of utterance. In addition, we developed a pupil response robot called “Pupiloid” that generates the pupil response with mechanical structure, and demonstrated that the pupil...
The problem of balancing a flying inverted pendulum on an unmanned aerial vehicle (UAV) has been solved using linear and nonlinear control approaches. However, to the best of our knowledge, the problem of swinging-up a flying pendulum has not been addressed in the literature. In this paper, we solve the general problem of swinging-up and balancing an inverted pendulum attached to a quadrotor using...
One of the most challenging issues of granular jamming robots is both predicting and measuring the stiffness variations which are a direct function of elastic module. In this regard, in previous researches, it had demonstrated that the elastic module of robot's bulk is a fundamental function of vacuum pressure and must be acquired by experimental tests. However, there was not a unique formulation...
This paper deals with a discrete predictive control design for motion control of robotic systems. The design considers time-varying state-space robot model. It is assumed that used robot state has to be estimated from measured robot outputs. These outputs represent controlled quantities including a bounded noise. Considering this arrangement, the paper introduces a novel solution to the state and...
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