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This paper presents a sliding mode hybrid impedance controller for complex interaction tasks. For easily implementing the scheme in embedded system, it is developed in discrete difference format. The hybrid impedance control is adopted since it is capable for both target impedance and force tracking. Then, the equivalent control based sliding mode control is introduced for robust to external disturbance...
This paper presents a framework of simulation-based design for robotic care devices developed to reduce the burden of caregiver and care receivers. First, physical interaction between the user and device is quantitatively estimated by using a digital human simulator. Then we introduce a method for optimizing the design parameters according to given evaluation criteria. An example of trajectory optimization...
This paper presents a distributed force/torque-based UAV(Unmanned Aerial Vehicle) collision avoidance scheme. This scheme is designed to deal in a distributed way with the problem of collisions among rotor craft UAVs, that are sharing the space and flying to different destinations. The proposed scheme has a modular architecture, so that it can be easily included into UAVs with a waypoint controller,...
This paper presents a systematic control synthesis method in order to achieve auto-transition for KH-Lion, a tail-sitter hybrid UAV. Although there are huge potentials in various applications of the hybrid tail-sitter UAVs, the transition between vertical take-off and landing mode and cruise mode is still a challenge now. Due to the complex behaviour that the transition can generate, it is very difficult...
In this paper, we present a control method for bipedal robotic walking based on insights we obtain from simple models. Inspired by the virtual pendulum (VP) concept and the spring-mass walking models, we propose a force direction control method to redirect the axial force of a compliant leg in order for walking with upright trunk. We first consider a dynamic simulation of a simple planar walking model...
Sliding mode control (SMC) design technique is a well-known control design method to cope with disturbance and uncertainty. This paper considers a new sliding model design technique for a class of second-order systems which are acted by friction force. Comparing to the global sliding model design technique, it designs the sliding mode for a specific sliding region. Outside the sliding region, the...
Researches on unmanned aerial vehicle (UAV) formation control are attracting more and more researchers' attention. Obstacle avoidance is a key problem of UAV formation. In this paper, an improved artificial potential field (APF) method is proposed for solving the problem of UAV formation control with obstacle avoidance in a complex environment. Point-mass models with kinematic constraints have been...
This paper focuses on solving the Unmanned Surface Vehicle autonomous dynamic collision avoidance problem. Firstly, a kinematic and dynamics model of three degree of freedom for USV is established, researches USV's treat method about the data of obstacles, and structures whole environment information to make USV avoid obstacles. Secondly, according to obstacles' position data, Elman predictive model...
The problem of designing an active robot reaction scheme to increase safety against unexpected, unintentional robot contacts with a human or its environment, is considered in this work. Its main functionalities are a) the regulation of the interaction force profile within acceptable/safe boundaries and b) the prevention of undesirable after-contact collisions. The developed methodology is model-free...
Recently, there has been a growing interest in biomimetic underwater vehicles. Although a lot of research has been conducted in the area of dynamics and kinematics of robotic fish, most of the approaches solve the inverse problem by finding the required force the caudal fin should produce, in order for the robotic fish to follow a trajectory. Others use predefined undulatory body motions which usually...
In this paper, we present a new control strategy for the Bipedal Trunk Spring Loaded Inverted Pendulum (BTSLIP) model, consisting of springy legs and rigid trunk. Our walking controller is inspired from the Virtual Pendulum (VP) concept. In this concept, by intersecting the ground reaction forces (GRF) to a virtual pivot point (VPP), the trunk is provided the restoring moment to keep its balance and...
This paper presents the result of the research about designing a device to support ankle joint by using Series Elastic Actuator (SEA). SEA is a system which consist of a DC motor, ball screw and the springs. The output force is controlled to track a trajectory which has been built before. Control force is done through control the transpose of the spring. A prototype was built to verify the possibility...
Children with hemiplegia have movements' difficulties especially in their upper limbs, these difficulties occur due to the loss of the communication between the brain and the affected side of the body. In this study, visual, audio, and tactile stimulation were provided to the patients to reactivate the communication between their brains and their affected upper limbs. Haptic stimulation control strategy...
Fingertip positions can be tracked using a variety of motion capture methods, raising the question of how to describe, compare, measure effects on, and simulate finger-movement trajectories. This paper provides a solution using stochastic differential equations (SDEs). In this approach, finger positions are conceptualized as Brownian particles. Effects on finger positions, from the stimulus and experimental...
Exponential signal categories, usual in the orthodontic dynamics, are considered, damped aperiodic in relation to time and space. They are expressed through time and space constants. For predetermined conditions, expressed in final durations, final lengths and inflexion points, respectively, this paper presents a digital method for determining the structure parameters, by the resolution of two categories...
The article shows that a rectilinear motion of ground effect vehicle (GEV) is not optimal by the criterion of fuel efficiency through the use of ground effect. In strongly disturbed sea, GEV should attempt the smooth lateral maneuvers with availability to move as much as possible over the cavities of waves instead of moving over the crests of waves. This reduces the average geometric altitude and...
It has been shown in previous studies that haptic guidance improves the learning outcomes of handwriting motor skills. In this paper, we present a comparison between full guidance and partial guidance using a haptic learning tool which supports these two modes. The full guidance mode leads the user along a pre-recorded trajectory, whereas the partial guidance mode allows the user a free movement and...
In the context of highly automated driving an important aspect is the understanding of Vulnerable Road Users' behavior. In this article we concentrate on starting cyclists at an urban intersection and investigate 104 trajectories of uninstructed cyclists' heads, feet, and bikes. A detailed analysis shows that on average cyclists' heads start moving 0.33 s earlier than the bike. Even 0.31 s before...
Touch provides an important cue to perceive the physical properties of the external objects. Recent studies showed that tactile sensation also contributes to our sense of hand position and displacement in perceptual tasks. In this study, we tested the hypothesis that, sliding our hand over a stationary surface, tactile motion may provide a feedback for guiding hand trajectory. We asked participants...
In this paper, we develop a zero-moment-point and friction force calculation framework for wheeled mobile robots on uneven terrain to evaluate roll-over and slippage tendency of the given trajectory. The proposed framework using dynamic constraints and passive decomposition has advantages of low computations and implementation cost. Simulation results using CarSim is provided to analyze the performance...
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