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This paper analyses periodic gaits of multi-legged locomotion systems. The joint signals are studied in the Fourier domain, namely from the point of view of its reproducibility through low-pass actuators. The influence of several parameters is also considered and their critical values are investigated.
This paper presents the design, development and implementation of a Hybrid Adaptive Fuzzy Controller (HAFC) suitable for real-time industrial applications. The developed HAFC consists of a weighted combination of the Direct Adaptive Fuzzy Controller (DAFC) and Indirect Adaptive Fuzzy Controller (IAFC) and a gradually activated supervisory controller. The unique feature of the HAFC is that no mathematical...
Since image-based visual servoing is a local feedback control solution, it requires the definition of intermediate subgoals in the sensor space at the task planning level. In this paper, we describe a general technique for specifying and tracking trajectories of an unknown object in the camera image space. First, physically valid C2 image trajectories which correspond to quasi-optimal 3D camera trajectory...
In this paper we extend earlier results on Invariance Control to the special class of nonlinear control input affine systems with relative degree two. A switching strategy for control parameters and an easy to calculate invariance region together form an intelligent switching Invariance Controller, achieving asymptotic stability for the controlled dynamics and positive invariance of a prescribed bounded...
Microsoft Kinect which has been primarily aimed at the computer gaming industry has been used in bio-kinematic research related implementations. A multi-Kinect system can be useful in exploiting spatial diversity to increase measurement accuracy. One of the main problems in deploying multi-Kinect systems is to estimate the pose, including the position and orientation of each Kinect. In this paper,...
This paper investigates feasibility of using a flywheel based energy recovery and storage system for a robotic manipulator. The incentive is supported by ever growing necessity for efficient systems and optimisation of power consumption of industrial processes. Previous work has shown that robotic manipulators can benefit from incorporation of energy recovery and temporary energy storage system which...
The ionizing radiation is used in the nuclear medicine field during the execution of diagnosis exams. The continuous exposure of humans to the radiation may cause organs and tissues damage, being its severity dependent of the quantity of the radiation and the exposure time. The main objective of this work is to design a virtual environment to carry out the simulation of the several stages for the...
For redundant fixed or mobile manipulators in shared human-robot workspaces, control algorithms are necessary that allow the robot to perform a task defined in the Cartesian space and that simultaneously realize additionally desired robot behaviors like avoiding collisions with humans or other obstacles. In this contribution, a Nonlinear Model Predictive Control (NMPC) approach is proposed to move...
The whole dance of Likok Pulo are modeled by hidden Markov model. Dance gestures are cast as hidden discrete states and phrase as a sequence of gestures. For robustness under noisy input of Kinect sensor, an angular representation of the skeleton is designed. A pose of dance is defined by this angular skeleton representation which has been quantified based on range of movement. One unique gesture...
This paper describes the implementation of walking motion of HOAP-2 Humanoid in OpenHRP simulation. Weput forward the existing knowledge on humanoid walking in aconcise and straightforward manner and integrate it to make the humanoid walk. We make use of the concept of Zero Moment Point (ZMP) for stability analysis and Cart Table Model to determine the relation between Zero Moment Point and Centre...
This paper presents the kinematic analysis of the SCORBOT-ER 4u robot arm using a Multi-Layered Feed-Forward (MLFF) Neural Network. The SCORBOT-ER 4u is a 5-DOF vertical articulated educational robot with revolute joints. The Denavit-Hartenberg and Geometrical methods are the forward kinematic algorithms used to generate data and train the neural network. The learning of forward-inverse mapping enables...
This paper focuses on the design of a Laguerre function based Model Predictive Control (MPC) for simultaneous tracking and vibration control of a flexible joint manipulator. A single link flexible joint manipulator is considered and the dynamic model of the system is derived using Lagrangian approach. The singular perturbation approach is exploited to obtain the two time-scale decomposition of this...
In minimal invasive robotic surgery (MIRS) port placement has a particular status accounted for joint limits of the robots. The port depicts a pivot point so that the robots movement is constraint by reducing its degrees of freedom (DOF). Additionally the workspace of reachable points is limited by the instrument length and the robots' flexibility. Our approach for optimizing the port position and...
In this paper, we present a general approach to develop a kinematic controller for any serial robots using Programmable Multi-Axes Controller (PMAC) and MoveIt!. PMAC, a commercial product for motion control, is an all-in-one embedded system to control motion, amplify signals and acquire sensor information. MoveIt! is a state-of-the-art software for kinematics-based manipulations. It integrates many...
This paper proposes a new learning architecture for the redundant mobile manipulator using Self-Organized Map (SOM), while traversing on an uneven terrain with 3D workspace. The mobile platform considered here is a 10-DOF rover and the manipulator mounted on it has 4 DOR The inverse kinematic map for the 14-DOF redundant mobile manipulator is one-to-many relationship problem. In the proposed approach,...
By following Ma et al's inspiring work (or termed, Ma equivalence), this paper proposes and investigates an acceleration-level minimization scheme for motion planning of redundant robot manipulators. Such a scheme depicted in the pseudo inverse-type formulation can achieve the purpose of the minimum kinetic energy (MKE) redundancy resolution originally at the joint-velocity level, and is thus termed...
This paper addresses the issue of developing a robust and efficient controller for a manipulator for underwater applications by proposing a terminal sliding mode control scheme along with a disturbance observer and incorporating the same for 3-RRR serial spatial manipulator to ensure finite time convergence as asymptotic convergence in undesirable in underwater tasks like positioning and tracking...
Exercise based rehabilitation plays a vital role in the recovery of various conditions, such as stroke, Parkinson's disease (PD), chronic pain, and so on. Recently, tele-rehabilitation has become increasingly popular quantitative nature in assessments particularly for systematic monitoring of progress as well as cost saving for the patients as well as for the health care sector at large. However,...
Mobile manipulation of large objects can benefit greatly from the use of multiple cooperating robots. Multi-robot coordination of decentralized systems is, however, challenging due to the nature of such systems. For this reason, many planning problems are yet unexplored. This paper proposes two decentralized approaches for cooperative grasp planning. In our setting, agents do not have information...
In this paper, a method for generating a natural human-like walking pattern of a humanoid robot is proposed. Inspired by biomechanical studies on human walking, we model the walking pattern of the robot with continuous and differ-entiable mathematical functions. The proposed walking pattern involves three-dimensional waist motion of the robot instead of restricting the waist motion to a two-dimensional...
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