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This paper develops a new compensation control scheme for two linked wheeled mobile robots with actuator failurs. First, a configuration of two linked two-wheel drive (2WD) mobile robots is described, and its kinematics and dynamics are modeled. Then, a multiple-model based control scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers...
In this paper a method is presented that allows an operator to hand-guide a robot along a predefined geometric path. This is a common use case in robot assisted surgery, which often has high demands on precision. In order to ensure the path accuracy of the robot, joint velocity and joint acceleration constraints are enforced to prevent undesired saturation effects of the actuators. Furthermore, necessary...
The design of an aid for the hand function based on exoskeleton technologies for patients who have lost or injured hand skills, e.g. because of neuromuscular or aging diseases, is one of the most influential challenge in modern robotics to assure them an independent and healthy life. This research activity is focused on the design and development of a low-cost Hand Exoskeleton System (HES) for supporting...
This paper presents a methodology for the parametric identification of the analytic dynamic model of a three degree of freedom delta type parallel robot. Dynamical behavior was modeled using the Euler-Lagrange analytic approach. Analytic dynamic model parameters were estimated using a MSC-ADAMS/MATLAB Cosimulation model. The identification algorithm employed was the recursive least squares, which...
This paper presents a method for adaptation of the Human Motion Capture Data (HMCD) for walking motion of a biped robot. We developed a dynamics filter, that generates a physically consistent walking motion from references trajectories obtained by HMCD. The method uses the inverse dynamics of the robot and the concept of the Zero Moment Point for the stability. A scheme for mapping the human trajectories...
When the trajectory of the industrial robot was the complex space curve or surface, there would be lots of continuous short line segments through the commercial CAD/CAM software. In this case, the frequent acceleration and deceleration would occur for the traditional industrial robot when running the process. This was leading to the robot vibration, even damaging the components. Aiming at this problem,...
This paper introduces a novel gait parameterization method that models gait kinematics as a continuous function of gait cycle phase, walking speed, and ground slope. Kinematic data was recorded from seven able-bodied subjects walking on a treadmill at twenty-seven combinations of walking speed and ground slope. Convex optimization was used to determine the parameters of a function of three variables...
Reinforcement learning is an effective algorithm for brain machine interfaces (BMIs) which interprets the mapping between neural activities with plasticity and the kinematics. Exploring large state-action space is difficulty when the complicated BMIs needs to assign credits over both time and space. For BMIs attention gated reinforcement learning (AGREL) has been developed to classify multi-actions...
In this paper an application of the fractional calculus to path control is studied. The integer-order derivative and integral are replaced with the fractional-order ones in order to solve the inverse kinematics problem. The proposed algorithm is a modification of the existing one. In order to maintain the accuracy and to lower the memory requirements a history limit and varying a order for derivation...
By applying direct derivative dynamics (DDD or D3), gradient neural dynamics (GND) and Zhang neural dynamics (ZND) at joint-jerk level, three novel solutions (namely, of types Z1D1G1-D1Z1G1, D2Z1-D1Z1D1-Z1D2 and D1Z2-Z1D1Z1-Z2D1) are proposed, developed and investigated in this paper. It is the first time that a relatively complete hybrid solution framework is proposed at the joint-jerk level. Then,...
This paper compares three different control methods of quadrocopters: linear-quadratic regulator, the method of inverse dynamics and full state feedback. The aim of this paper is to compare examined methods of control in respect of quadrocopter's energy consumption and accuracy of obtained trajectories. We evaluate efficiency of these methods, based on an example of quadrocopter's motion along an...
Muscle synergy represents a central neural module that organizes and activates a group of muscles when performing a certain task. However, whether muscle synergy is a good physiological indicator of motor ability in task performance for patients suffering stroke is not clear. The purpose of this study is to understand how information of task-specific muscle synergy in healthy subjects and patients...
Kinematic and dynamic models are used to create simplified, yet accurate representations of reality. In application to biological systems, there is often a choice on what level of complexity is appropriate for the model. This paper introduces a structured method for obtaining an accurate model that can represent the sit-to-stand motion and reproduce the associated contact forces in the standing phase...
A starting point to achieve stable locomotion is synchronizing the leg joint kinematics during the gait cycle. Some biped robots parameterize a nonlinear controller (e.g., input-output feedback linearization) whose main objective is to track specific kinematic trajectories as a function of a single mechanical variable (i.e., a phase variable) in order to allow the robot to walk. A phase variable capable...
Industrial processes which use robotic manipulators are progressively asking for the generation of real-time trajectories in order to quickly react to unpredictable events. However, trajectories generated in real-time may violate the kinematic constraints of the system and, therefore, may be unfeasible. Several online methods have been recently proposed for the constraint management. They particularly...
In the article the whole process of a manipulator controller development is presented. The controller is designed for the execution of various benchmark tasks in the field of service robotics. Initially, a set of system behaviors is presented as the base of the universal controller structure. For that purpose the embodied agent theory and the System Modeling Language are utilized. The execution and...
In the paper new control algorithm for skid-steering mobile platforms has been presented. This control law is based on mathematical model of such object. In the model it has been assumed that wheels of the skid-steering platform are not coupled by tracks and that they can move without some slipping effects, namely with lack of longitudinal slipping of selected wheels and lack of lateral slipping of...
Planning effective arm motions is integral to manipulation tasks. In general, motion synthesis methods have focused on functional objectives, such as minimizing time and maximizing efficiency. However, recent work in human-robot collaboration suggests that choices in motion design can influence collaboration performance and quality. Some motion designs are easier than others for human observers to...
The particle swarm optimization algorithm (PSO) is widely used and therefore it has been deeply studied in order to understand the parameters influence on the final results. In this paper we study the modification of the common approach. We decided to utilize method that alters the velocity update rule which now uses the fractional-order derivative. For derivative discretization we propose use of...
This paper presents a systematic method to build the kinematic model and dynamic model of a nonholonomic wheeled mobile robot (WMR) with longitudinal and lateral slip, followed by the design of a control law using the input-output feedback linearization method to drive the mobile robot to track a given trajectory while longitudinal, and lateral slip exist. The asymptotical stability of the system...
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