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For generating whole-body behavior involving contacts with environments such as climbing ladder behavior or walking on terrain behavior, “contact-before-motion” approach was used in some previous researches. By separating contact search process and motion search process, whole-body behavior generation was achieved. However, in previous researches, there were few examinations about contact transition...
The goal of this work is to study the application of switchable magnets (SM) for climbing robots. A switchable magnet is a device which uses moving permanent magnets to change the magnetic flux path and switch on or off the magnetic attraction force. In our work we used Comsol Multiphysics, a physics simulation software in order to simulate the flow of the magnetic flux on switchable magnets on its...
We present a passive mechanism for quadrotor vehicles and other hover-capable aerial robots based on the cam-follower. This mechanism has two mating parts, one attached to the quadrotor and the other attached to a payload. These two parts are joined by a toggle switch—push to connect, push to disconnect—that is easy to activate with the quadrotor by varying thrust. We discuss the design parameters...
This article presents an inchworm climbing robot that is designed with switchable magnets and a single DOF arm. The InchwormClimber works on ferromagnetic structures and consumes little energy when climbing and can descend safely with almost zero energy consumption. Furthermore, considering the critical role of the adhesion unit in the overall functionality of the robot (weight, climbing speed and...
The most accurate and dependable approach to the in-vivo identification of human limb stiffness is by position perturbation. Moving the limb over a small distance and measuring the effective force gives, when states are steady, direct information about said stiffness. However, existing manipulandi are comparatively slow and/or not very stiff, such that a lumped stiffness is measured. This lumped stiffness...
A novel powered end-effector arm rehabilitation robot with a game based virtual environment is introduced. The built rehabilitation robot provides both gravitational support and assistive drive force in horizontal planar motion to the user's arm. The proposed configuration completely decouples the motor's torque and can senses force in two opposite directions within task space. The paper investigated...
This paper presents a compliant landing control strategy for a trotting quadruped robot on unknown rough terrains based on contact force distribution/control algorithm. As joint actuator, the model of hydraulic cylinder is identified by using frequency response method. The compliant control strategy consists of three control loop: outer-loop is position and orientation of body control loop, in which...
A prototype of a fast switching valve for a digital hydraulic machine has been designed and manufactured. The valve is composed of an annular seat plunger connected with a moving coil actuator as the force producing element. The valve prototype is designed for flow rates of 600 l/min with less than 0.5 bar pressure drop, and the models predicts a switching time in the region of a millisecond with...
Fast switching fluid power valves set strict requirements on performance, size and energy efficiency and simulation models are therefore needed to obtain good designs of such components. The valve moving member is subject to fluid forces depending on the valve flow rate and movement of the valve member itself. These fluid forces may be accurately simulated using Computational Fluid Dynamics (CFD)...
This paper introduced a special hand mechanism which can automatically grab a concavo-convex object with smooth curved surface, and introduced the design of the self-adaptive positioning mechanism and sucking mechanism for grabbing concavo-convex objects with different curved surface, and introduced briefly the functional design of the contact-force control of the hand, posture-adjusting, mobile posture...
This article is intended to design an automated device for power line quality and life test. The designs of this device contain three various parts: mechanical system, control and PC software. The control algorithm and the program execution flow will be described in detail in this paper. Using the raspberry pi to control the step motor and to realize the switch of machine on and off is the main purpose...
In autonomous robotic surgery, the supervision of the surgeon cannot be avoided due to the unforeseenable emergencies and complications that can take place during an operation. When necessary, the surgeon has to take over the surgical system switching it from an autonomous mode to a teleoperation mode. In this paper we propose a two-layer bilateral control architecture that ensures a safe behavior...
The problem of time-optimal trajectory design for high performance point-to-point positioning system under state and control constraints is considered. The proposed solution takes into account Coulomb and viscous friction. A particular structure for the trajectory is postulated, and conditions for its optimality are proven using the Pontryagin Maximum Principle. The explicit solution for the co-states...
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion/force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of freedom of the end-effector of the manipulator. Therefore, the focus is on this contact degree of freedom, and a switching position-force controller is proposed...
This paper proposes a sliding mode strategy for the Chaser position tracking during the approaching maneuver to a passive vehicle (Target). The presented sliding mode control procedure considers different phases of the approaching maneuver, which are identified mainly based on the Chaser distance from the Target. The various stages correspond to different choices of the designed sliding mode control...
This paper proposes a novel method of killing birds and applying vaccines for suppressing the spread of avian influenza via a nonlinear switching control approach. The switching strategy is based on the population of the susceptible birds and the population of the susceptible humans. There are four switching cases. For the first three switching cases, the elimination control force and the quarantine...
Systematic error resulted from the pre-travel of the touch trigger probe is non-ignorable consititutent of inspection errors for On-Machine Measurennet (OMM). Based on analyzing the working procedure of probe, the mechanics condition of triggering mechanism under working situation is performed. Utilizing the results, a probe pre-travel mathematical model is established, which can describe the pre-travel...
Wearable robots have been mostly designed as exoskeletons, with segments and joints corresponding to those of the person they are coupled with. Exoskeletons are mainly employed to augment human body force and precision capabilities, or for rehabilitation purposes. More recently, new wearable robots resembling additional robotic limbs have been developed thanks to the progress in miniaturization and...
Due to the high efficiency and force density, linear switched flux permanent magnet machine (LSF-PMM) is gaining more and more attention in direct drive technology. For conventional LSFPPM, the structure enables the PMs and windings to be arranged on the same side, which largely reduces the manufacture cost [1]. However, with the insert of PMs into adjacent teeth, limited by the volume of primary,...
The linear switched reluctance machine (LSRM) has the merits of low cost, simple structure and mechanical robustness [1]. It is one of the most promising candidates in the direct-drive applications such as linear transportation and position control systems [2-3]. However, they are limited to some special use due to their inherently low propulsion force output and high force ripples, especially in...
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