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In this paper, the steady glide trajectory (SGT) is proposed for the equilibrium glide problem with given continuously differentiable angle of attack (AOA) and bank angle profiles firstly. Then the analytical solutions of the SGT for altitude, flight path angle and vertical acceleration are obtained by regular perturbation method. Next the dynamic characteristics of the SGT are analyzed, and the simple...
In modern literature, the geometric integration means numerical integration of differential equations that provides an accurate preservation of one or more “geometric” properties within rounding error. Among these properties we have to mention first conservation of energy, of momentum, of angular momentum, of volume of the phase space, of time-reversal symmetry, of symplectic structure (volume conservation)...
In this paper, is studied the behaviour of a two wired hammerhead crane while avoiding obstacle collision. Since operators must chose between to hang the load over the obstacle or to follow a trajectory to surround the obstacle, we show how this crane design reduce in both situations the oscillations of the load.
Recently, the variety of devices and robots are available for recovering and rehabilitating human disorder patients. In this paper, simple and effective control method utilized for position-impedance control. This method consists of two parts, namely position control in free space and fuzzy impedance control in contact. First, kinematics and dynamics of general 6UPS are discussed. Then SimMechanics...
Collaborative autonomy of unmanned air-vehicles (UA) in harsh or contested environments is a challenging and increasingly important problem. While prior attempts have been made to perform collaborative autonomy, the high complexity of UA systems in general and the planning in particular, have resulted in centralized solutions that tend to be brittle and lack scalability, or in distributed approaches...
This paper proposes a framework of generating behavior sequences for robots, especially for humanoid robots, to perform complex tasks. This framework provides a method for the robot to generalize common features of demonstrated behaviors, to store the learned behaviors in the memory system, to construct a behavior graph to describe relationships among learned behaviors, to find and assemble a behavior...
This paper proposes a motion design method for humanoids to imitate human-inspired motions by iteratively modifying joint reference trajectories based on the principal component analysis. The objective is to establish a practical method to realize dynamic human motions in humanoids without using complicated equations of motion. In the proposed method, captured motions of a human are firstly projected...
The improvement of collision avoidance for vessels in close range encounter situations is an important topic for maritime traffic safety. Typical approaches generate evasive trajectories or optimise the trajectories of all involved vessels. The idea of this work is to validate these trajectories related to guaranteed motion safety, which means that it is not sufficient for a trajectory to be collision-free,...
This paper presents a new type of crane system that can be employed in a narrow space in an ordinary house for supporting nursing and housework. The crane consists of straight and curved rails that can be assembled/disassembled so that an operator is able to assemble them according to the room/corridor structure of a house. Because an operator may not hold the transported person or object (load) in...
This contribution presents a novel approach for efficient online planning of topologically distinctive mobile robot trajectories. Trajectory optimization deforms an initial coarse path drafted by a global planner with respect to robot motion related objectives and constraints. The primary objective is to reach a goal state in minimal time on a collision free path that adheres to the kinematic and...
This paper presents the method to retarget human motion. The method can evaluate the ability of the preservation of the original characteristics of human motion data. It enables to compute the joint trajectories of the human corresponding with the retargeted ones of the robot at the same time, by utilizing the geometric identification technique. The obtained trajectories of a human are the solution...
Human-demonstrated motion transferred to a robotic platform often needs to be adapted to the current state of the environment or to modified task requirements. Adaptation, i. e. learning of a modified behavior, needs to be fast to enable quick utilization of the robot either in industry or in future household-assistant tasks. In this paper we show how to accelerate trajectory adaptation based on learning...
In situations where humanoid robots with constrained posture walk through a narrow space (e.g. manufacturing plants and kitchens), shuffling motions that are stepless and possess wide foot supporting area are effective. One of the difficulties of humanoid's shuffle translations is the load distribution between both feet. If sole loads are not distributed appropriately, the humanoid robot cannot maintain...
The mass parameters of robots influence performances of model-based control and validation of the simulation results. The mass parameters provided by CAD data are usually rough approximation of the true parameters. Therefore several methods for estimation of those parameters have been proposed. Their precision depends on the used motion, called optimal exciting trajectories. This paper describes a...
Inspired by geckos, we built a new configuration for climbing robot, the GPL model with one passive waist and four active axil legs. In this paper, further research was made to analysis its motion. We found the anomalies line between supporting feet and its effect on robot motion. A step further, the principia of configuration design and gait planning were proposed based on dynamic analysis. The prototype...
While a lot of progress has recently been made in dynamic motion planning for humanoid robots, much of this work has remained limited to simulation. Here we show that executing the resulting trajectories on a Darwin-OP robot, even with local feedback derived from the optimizer, does not result in stable movements. We then develop a new trajectory optimization method, adapting our earlier CIO algorithm...
For a parallel manipulator with a kinematic loop and a highly flexible link, a comprehensive control approach including friction compensation for the drive train, gain scheduling and active oscillation damping is considered. Friction compensation based on the Stribeck as well as the LuGre models and gain scheduling are used to improve the position control. A curvature controller, which is based on...
As the application of probabilistic models in robotic applications increases, the necessity of a systematic robot-control method that considers the effects of multiple uncertainty sources becomes more evident. Motivated by human sensorimotor findings, in this work we study the stochastic locally optimal feedback control problem with high-order cost statistics where dynamics have multiple additive...
Physical interaction in robotics is a complex problem that requires not only accurate reproduction of the kinematic trajectories but also of the forces and torques exhibited during the movement. We base our approach on Movement Primitives (MP), as MPs provide a framework for modelling complex movements and introduce useful operations on the movements, such as generalization to novel situations, time...
Sensitivity Amplification Control (SAC) algorithm was first proposed in the augmentation applications of Berkeley Lower Extremity Exoskeleton (BLEEX). The SAC algorithm is widely used in human augmentation applications since it just need the information from the exoskeleton robot, so that the complexity of exoskeleton system can be reduced greatly. However, the SAC algorithm has two main drawbacks:...
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