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Highly dynamic tasks that require large accelerations and precise tracking usually rely on precise models and/or high gain feedback. While movement primitives allow for efficient representation of such tasks from demonstrations, the optimization of the required motor commands for systems with inaccurate dynamic models remains an open problem. To achieve accurate tracking for such tasks, we investigate...
Place recognition has been intensively studied in the context of robot vision. BoW-based approach gains its popularity for its efficiency and robustness using features extracted from images. Many features have been examined in the past for place recognition purpose. However, there is no such feature that can outperform others in all environments. Each feature has its own advantage, thus, they should...
Two-Wheeled Inverted Pendulum (TWIP) robot is considered as an unstable and underactuated system affected by physical and environmental constrains. In addition, due to the model uncertainties, a robust control approach is needed to stabilize the posture of the TWIP. Robust Model Predictive Control (RMPC) based on linear matrix inequality (LMIs) is addressed to an optimization problem of the “worst-case”...
In the present paper, we deal with the grasping aspect regarding reactive object retrieving during fast aerial pick-and-place maneuevers. The paper addresses the problem of the optimal grabbing of an object by means of a 5 degrees of freedom (DoF) gripper. Also, is introduced the optimization framework for the identification of the optimal contact points between the end-effector and the object. In...
Practical activities are critical teaching mechanisms since they enable the acquisition of professional competences while involving and motivating the students. Thus, it is necessary to organize realistic and sufficiently complex activities that, at the same time, can be easily understood and correctly performed by the students. In this context the disposal of physical systems that enables students...
Vast variety of EMG signal applications have been proposed and practiced on EMG control system such as rehabilitation and prosthetic hand and so on. In this paper, a realization of a robust real time robotic arm control system is proposed. First, the root mean square (RMS) of EMG signal for a hand movement is measured and the measured EMG signal is transformed to a complex number. Secondly, the transformed...
This paper presents adaptive tracking control with a partial regressor for multi-joint robots. The proposed controller can abbreviate the elaborate computations of a regressor matrix, which needs to be wholly calculated in conventional adaptive control. Therefore, this controller can be easily implemented in robotic systems. Even though the proposed controller does not utilize robustification techniques...
This paper presents a vision guided robot for recognizing and grasping moving objects on the conveyor belt. An industrial camera is utilized to capture the image of moving objects. A robust vision system is applied for recognizing and estimating the moving object in real time. Objects are recognized by using SURF(Speeded-Up Robust Features) key point detector and FLANN(Fast Library for Approximate...
It is important to design control configuration for medical robots to allow high fidelity human robot interactions. This paper considers the control configuration for upper limb rehabilitation robotic systems. The considered 11-DOF exoskeleton-type robot enables an grasping motion, an elbow actuation, three wrist actuations, three gleno-humeral joint actuations and another three axis linear actuations...
This paper presents a new adaptive sliding mode control (ASMC) scheme using time-delay estimation (TDE) technique and then applies it to robot manipulators. The proposed ASMC employs a new adaptive law to achieve good tracking performance with small chattering effect. The new adaptive law considers an arbitrarily small vicinity of the sliding manifold, where the derivatives of its adaptive gains are...
This paper introduces a rescue robot to extract a casualty from hazardous environment and suggests a specific whole-body behavior strategy suitable for the rescue mission taking into account the characteristics of the robot configuration. Since the robot has redundant degrees of freedom, a task-priority based CLIK as differential inverse kinematics approach is adopted for real-time implementation...
In this paper, we describe an voice recognition control technology for Mobile robot system which can robustly recognize voice by adults and children in noisy environments. We evaluate the performance of robot control system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. To suppress interference and noise and to attenuate reverberation, we...
First, the basic structure and principle of quadrotor UAV and its practical applications are introduced. Then, some control algorithms are also presented, such as, PID, LQR/LQG, H∞, sliding mode, feedback linearization, back stepping, model predictive, robust, adaptive, nested saturation, fuzzy logic, neural network, reinforcement learning, iterative learning, memory and brain emotional learning-based...
We propose a method for generating interpretable descriptions of inputs that cause faults in high-dimensional software interfaces. Our method models the set of fault-triggering inputs as a Cartesian product and identifies this set by actively querying the system under test. The active sampling scheme is very efficient in the common case that few fields in the interface are relevant to causing the...
If the control authority of a running system is insufficient to reach a target state in a single step, i.e. if deadbeat control is not possible, then a stabilizing controller is faced with the decision on how to plan intermediate steps. In this work, we compare the performance of a simple greedy control policy (that computes deadbeat inputs and simply caps them) with the optimal performance found...
Fractional order calculus is a generalization of the familiar integer order calculus in that, it allows for differentiation/integration with orders of any real number. The use of fractional order calculus in systems and control applications provides the user an extra design variable, the order of differointegration, which can be tuned to improve the desired behavior of the overall system. We propose...
We address the operation of robotic legs with intrinsic elasticity in hopping cycles determined by the mechanical resonant properties of the system. This ensures energy efficiency and high jumping velocity and distance. Recently, we have shown in simulation that a simple, biologically inspired bang-bang controller operating in the local coordinate of the first resonant mode leads to limit cycles which...
In this work in progress paper, we formulate performance robust event-based control strategies with respect to uncertainties in operation processing times. The proposed policies are based on a time-optimal schedule of operation sequences. A logical operation model is used to specify relations between operations. The control policies generate conditions ensuring to maintain the execution order given...
We present an evaluation of standard image features in the context of long-term visual teach-and-repeat mobile robot navigation, where the environment exhibits significant changes in appearance caused by seasonal weather variations and daily illumination changes. We argue that in the given long-term scenario, the viewpoint, scale and rotation invariance of the standard feature extractors is less important...
Accurate metrical localization is one of the central challenges in mobile robotics. Many existing methods aim at localizing after building a map with the robot. In this paper, we present a novel approach that instead uses geo-tagged panoramas from the Google Street View as a source of global positioning. We model the problem of localization as a non-linear least squares estimation in two phases. The...
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