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High mobility, maneuverability and obstacle surmounting capabilities are highly desirable features for rough-terrain locomotion systems. In past work, we examined kinetostatic optimization of candidate articulated leg-wheel subsystem designs (based on the four-bar mechanism) for enhancing locomotion capabilities of land-based vehicles. Our goal was to: (i) achieve the greatest motion-ranges between...
Learning motor skills for robots is a hard task. In particular, a high number of degrees-of-freedom in the robot can pose serious challenges to existing reinforcement learning methods, since it leads to a high-dimensional search space. However, complex robots are often intrinsically redundant systems and, therefore, can be controlled using a latent manifold of much smaller dimensionality. In this...
The objective of this paper is to develop an analytical inverse kinematic solution for a 7-DoF redundant manipulator with offsets at shoulder and wrist. Firstly, the key ingredient is to derive closed-form inverse kinematic solution using different joint as redundancy based on parameterization method. By having these redundant parameters,we obtain different null-space self-motion pattern of the arm...
A robust numerical solution of the prioritized inverse kinematics is proposed. It is based on the augmented Lagrangian function and Hestenes-Powell's multiplier method. It originates the weighted inverse kinematics and only requires a small modification including an accumulation of the error of the high-priority constraint at each step of iteration and an estimation of Lagrange's multiplier. Hence,...
Fish swimming demonstrates impressive speeds and exceptional characteristics in the fluid environment. The objective of this paper is to mimic undulatory swimming behaviour and its control in a body caudal fin (BCF) carangiform fish in a robotic counterpart. Based on fish biology a 2-level behavior based control scheme is proposed. High level control is modeled by robotic fish swimming behavior. It...
We present a method for system identification of flexible objects by measuring forces and displacement during interaction with a manipulating arm. We model the object's structure and flexibility by a chain of rigid bodies connected by torsional springs. Unlike previous work, the proposed optimal control approach using variational integrators allows identification of closed loops, which include the...
This paper presents the concept of a new robotic joint composed of two electric motors as inputs, an epicyclic gearing system for the transmission, and a single output. The proposed joint mechanism has a wider range of speed and torque performances comparatively to a traditional robot joint using a single motor and gearbox. The dynamic equations for the mechanical transmission system are given and...
This paper presents a teleoperation strategy, which is featured by haptic feedback. The teleoperation system is composed of a SensAble® Omni haptic device, set as the master and providing haptic feedback, and an anthropomorphic robot slave, which is embodied by the 7-DOF (degrees of freedom) robotic arm of the Baxter® robot. The haptic feedback enables a bilateral manipulation of the teleoperation...
The article presents the process of designing a mathematical model of the human arm. Modelling arm consists of two joints connected by the rotational link. Each of them is represented as a rectangular prism which changes shape during the movement. The moment of shape change depends on the two-state coordinates: the angular displacement q1 and q2. Based on the analysis of the arm movement, a mathematical...
Received Signal Strength (RSS)-based ranging techniques have recently attracted a lot of attention because of their advantages in terms of low cost and easy implementation. The received signal strength highly depends on the path loss effect of radio wave propagation. When there is obstruction between transmitter and receiver, the signal power can drop significantly on the corresponding obstructed...
Snake robots are biomimetic robots highly suited for traversing challenging terrain where traditional robots have difficulty moving. A key aspect is obstacle-aided locomotion, where the snake pushes against the environment to achieve the desired propulsion. The main focus of this work is to optimally determine how to use the motor torque inputs that result in obstacle forces suitable to achieve some...
This paper deals with the optimization of a New Spherical Parallel Manipulator (N_SPM). The N_SPM is obtained by changing the kinematic of one leg of a classic spherical parallel manipulator. This change is carried out to reduce the presence of the singularity in the useful area of the workspace. The mobility of the N_SPM is similar to the classic one. First, the less-singular working mode of the...
In this study an adaptive fuzzy terminal-based neuro-sliding mode control (AFTNSMC) was proposed for control of ankle joint using intraspinal microstimulation (ISMS). The controller is based on the combination of an adaptive terminal-based neural controller with sliding-mode control (SMC). The most advantage of terminal dynamics is the fast convergence compared to the conventional gradient descent...
High performance ships have a lot of advantages, but would cause a larger heeling than normal ships when turning in the high-speed. In this paper, we study the design method of joint controller for the hydrofoil catamaran nonlinear course in three degrees of freedom with heeling using Lyapunov's direct method and fuzzy control method. Firstly, according to the turning characteristics, we give a simplified...
Modeling the passive behavior of the knee in subjects with spasticity involves the applied external torques (e.g. gravitational torque), the intrinsic moments due to tissue properties, as well as active, neurally defined moments resulting from the hypersensitivity of reflexes introduced by disability. In order to provide estimates of the necessary intrinsic terms in the equation of motion, the push-pull...
Legged systems are potentially expected to have outstanding mobility. However, they have shown only modest levels of capability to traverse on flat ground. This paper introduces a biped robot inspired by the hind limbs of cats. We present the characteristics of the system and conduct a position analysis based on vector loop equations. Afterwards, the ground clearance and parallel movement of the robotic...
To realize the tracking control of joint manipulator trajectory, an improved PID control method is presented in this paper. This paper also introduces the system structure of Selective Compliance Assembly Robot Arm (SCARA), and gives dynamic modeling of two link flexible joint manipulator in detail. By using Matlab/Simulink, and preparation of an S function based on the S-function module, the manipulator...
Coordinating the joint-actions of agents in cooperative multiagent systems is a difficult problem in many real world domains. Learning in such multiagent systems can be slow because an agent may not only need to learn how to behave in a complex environment, but also to account for the actions of other learning agents. The inability of an agent to distinguish between the true environmental dynamics...
Since Underwater Vehicle-Manipulator Systems (UVMS) are expected to make important roles in ocean exploration, many studies about control of single arm UVMSs have been reported. We have also been proposed digital Resolved Acceleration Control (RAC) methods for a single arm UVMS. In this paper, we propose a discrete time RAC method for multiple arms UVMS. Simulation results show the effectiveness of...
The focus of this paper is to develop a control system for wearable motion assist device giving physical support for people who are doing physically demanding tasks. Two key technical issues in developing such a device are how to generate the reference trajectory for the actuator installed to provide appropriate motion support, and how to determine the strength and duration of assist to help complete...
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