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This paper presents an adaptive backstepping sliding-mode motion controller using fuzzy basis function networks (FBFN) method for trajectory tracking of a self-balancing two-wheeled robot (SBTWR) with parameter variations. A decoupling method is proposed to decouple the robot's dynamic model such that the tracking controller can be synthesized using backstepping and sliding-mode control in both kinematic...
The author has proposed a novel method for generating a dynamic gait based on anterior-posterior asymmetric impact posture tilting the robot's center of mass forward. The primary purpose of this method is to asymmetrize the impact posture by actuating the robot's telescopic-legs to make overcoming the potential barrier at mid-stance easy, and the mechanical energy is accordingly restored. We have...
Many daily tasks require that a person use both hands simultaneously, such as moving a large book or opening the lid on a jar. Such bimanual tasks are difficult for people who have a stroke, but the tight neural coupling across the body has been hypothesized to allow individuals to self-rehabilitate by physically coupling their hands. To examine potential methods for robot-assisted bimanual rehabilitation,...
This paper presents a trajectory planning algorithm for a robot operating in dynamic human environments. Environments such as pedestrian streets, hospital corridors, train stations or airports. We formulate the problem as planning a minimal cost trajectory through a potential field, defined from the perceived position and motion of persons in the environment. A Rapidly-exploring Random Tree (RRT)...
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a weighted transition system. The mission is specified by a general linear temporal logic formula. In addition, we require that an optimizing proposition must be repeatedly satisfied. The cost function that...
In this paper, a mixed controller for solving the trajectory tracking and point stabilization problems of a mobile robot is presented, applying the integration of backstepping technique and neural dynamics. By introducing a virtual target point, the whole motion process is divided into two parts. The first one is employed to realize tracking control and the other one is adopted to implement point...
In this paper, we propose a method to achieve temporal scaling of leg motions as a fundamental technique for a music feedback system of a dancing humanoid robot. We asked dancers to perform dance motion at normal musical tempo and faster musical tempos and observed how dancers modified performance for given musical tempos. The obtained insights from the observation are 1) a dancer needs to preserve...
This paper represents the method to manipulate the objects with the upper body of a humanoid robot by capturing human motions in real-time. To control the upper body of a humanoid robot and make it behave as a human does, we define several virtual spring-damper elements between the humanoid robot and the human. The resultant motions given by the virtual forces of the elements lead the humanoid robot...
This paper presents a method for mapping captured human motion with stepping to a humanoid model, considering the current state and the controller behavior. The mapping algorithm modifies the joint angle, trunk and center of mass (COM) trajectories so that the motion can be tracked and desired contact states can be achieved. The mapping is performed in two steps. The first step modifies the joint...
In this paper we present an approach to reduce the effort for planning robot motions by shifting the planning problem to a high-level representation. We combine classical sampling-based random tree planning with a reactive controller connecting sampling points with nontrivial trajectories, utilizing redundant DOFs to locally avoid obstacles. While the reactive planner operates locally on a short time...
We consider trajectory planning for an underactuated 3DOF helicopter, using the virtual holonomic constraint approach. First we choose constraint functions that describe the configuration variables along a desired motion in terms of some independent parametrization variable. This lets us describe the closed-loop system by some reduced order dynamics, the solution of which gives a feasible trajectory...
Recent development of motion control technology brings robots to our daily life. In the daily life, physical distance between humans and robots get very closer. This closed distance leads new issues in human robot interaction, such as safety issue and communication issue. The authors developed haptic sensing system called haptic armor. The sensory system can detect any contact on the robot surface...
Wheeled inverted pendulum (WIP) models have been widely used in the field of autonomous robotics and intelligent vehicles. A novel transportation system, WIP-car is proposed in this paper, which is composed of a mobile wheeled inverted pendulum system, a driven chair, an acceleration pedal and a deceleration pedal, which are used to drive the chair forward or backward such that the car can be accelerated...
Trajectory generation consists in computing a feasible trajectory between a start and a goal state-time, for a given robotic system. We presented in our previous works a trajectory generator called Tiji, geared towards complex dynamic systems subject to differential constraints. Moreover, it is able to handle a final time constraint, ie an interval of time during which the goal state must be reached,...
According to the problems existed in the collision detection and the motion control in virtual reality, the paper proposes the algorithm of entity object trajectory after further analyzing, improves the calculation method of the direction of bounding box (OBB) so that to achieve the required accuracy of collision detection and real-time nature in simulation system, and illustrates the application...
Steering maneuver is essential in robotic motion planning. Despite a lot of steering mechanisms successfully developed in past years, for miniature robots, real-time computation is still a limitation for robot path tracking. The design issues in cooperative control of battery-powered nonholonomic robots rest with the complicacy of the control strategies, the low power consumption and real-time processing...
We proposed a nonlinear reference shaping controller for a manipulator which shares its workspace with humans. In this paper, two adaptation methods to external force; “slow adaptation” and “rapid adaptation” are proposed for smoother reaching movements and submissive behavior to follow the force. These make smooth endpoint speed profiles and movements flexible to follow external force without detecting...
Autonomous exploration under uncertain robot position requires the robot to plan a suitable motion policy in order to visit unknown areas while minimizing the uncertainty on its pose. The corresponding problem, namely active SLAM (Simultaneous Localization and Mapping) and exploration has received a large attention from the robotic community for its relevance in mobile robotics applications. In this...
In this paper we introduce a method to generate whole body's linear and angular momentum, and use upper body to compensate for the momentum caused by lower-body prescribed trajectory for fast dynamic walk of humanoid robot. In this method, the system dynamic model is built with its performance indices, and the optimal momentum compensation (OPMC) is solved by preview control method. Experiments conducted...
Unmanned Underwater Vehicles (UUVs) can be utilized to perform difficult tasks in cluttered environments such as harbor and port protection. However, since UUVs have nonlinear and highly coupled dynamics, motion planning and control can be difficult when completing complex tasks. Introducing models into the motion planning process can produce paths the vehicle can feasibly traverse. As a result, Sampling-Based...
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