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The goal of this paper is to answer (i) how the stabilization performance of a biped controller can be evaluated on a certain invariant supporting region, (ii) how the standing stabilizer which performs the best on a given supporting region can be designed, (iii) how the system can be judged if it is stabilizable by the best standing stabilizer without deforming the current supporting region, and...
In this paper we present a voice command and mouth gesture based robot command interface which is capable of controlling three degrees of freedom. The gesture set was designed in order to avoid head rotation and translation, and thus relying solely in mouth movements. Mouth segmentation is performed by using the normalized a* component, as in J. Gomez, et al., (October 2008). The gesture detection...
Two behavioral modes of mobile robot: head for target behavior which is a point attractor and obstacle avoidance behavior which is a point repeller, are constructed based on the stability theory of nonlinear differential dynamical system. An intelligent robot behavioral dynamic navigation model is established based on dynamic approach, which is integrated both target navigation behavior and obstacle...
This article presents the mechanical design, hardware architecture and control scheme for critic joints in biped robots. A dynamic simulator was developed in order to quantify torque and currents motor requirements for different gait trajectories. The particular characteristics of biped robots has led to an important design effort in transmission systems, which is deeply discussed before presenting...
This paper reports on the study of the Center of Gravity (COG) for the ALACRANE mobile robot, which consists on a hydraulic tracked vehicle with a customized heavy manipulator. The COG has been experimentally estimated by taking into account different arm positions. These estimations have been used to modify the mass distribution of the robot so that the COG can be appropriately controlled online...
A mu-synthesis controller of a four mass manipulator arm system with structured uncertainty is presented. The system with uncertainties on parameters of plants such as damping ratios and stiffness of gears is modeled to a LFT form. The process of finding a stabilizing controller for nominal and perturbed system is based on mu-synthesis method. The resulting controller has been tested in standard manipulator...
Among the methods to grant the stability of a telemanipulation system, the bilateral time domain passivity framework has the appealing characteristic to consider both, force and velocity signals exchanged between master and slave systems, and the power introduced or dissipated by the elements that compose the telemanipulation system. In previous works, it has been shown how the bilateral passivity...
This paper firstly presents a method to formulate the dynamics of the mobile humanoid robot which is composed by the mobile platform and the upper body. As tip-over is an important stable issue for the mobile robot, the dynamic stability constraint is carefully studied to keep the robot stable. Stable support for the robot moving on a plane is solved. With the consideration of the stability problem...
In this paper, a new method based on multi-layered dynamic neural group network for analyzing event series is introduced. By the embedded multiple parallel structures, the new method can identify the character patterns contained in the event series. Then, a selective evaluation strategy is applied to integrate the different pattern clusters and predict the event in the next step. The aim is to generate...
There are many commercially available robots that display biomimetic influences. Sony's Aibo and DasaRobot's Genibo are two examples where robot dog designs have drawn from nature. Aldebaran's Nao and Hanson Robotics' Zeno are examples of humanoids robots that have drawn influences from the human body. This paper presents the design of an autonomous 21 degree of freedom (DOF) robot bear, named HyKim...
The paper firstly presents a mobile humanoid robot whose upper human-like body is rigidly mounted on the mobile platform with three wheels: two driving wheels and one caster wheel. The wheeled mobile platform moves on the ground subjected to nonholonomic constraints. Then the static equilibrium of the robot on a plane is discussed and tip-over stability of mobile humanoid robot moving on the slope...
The eight leg-wheels hybrid stair climbing wheelchair robot, was developed for aged and disabled person helping them moving freely in structured three-dimensional environment. The efforts of motion automation have been partly implemented, such as climbing up/down the stairs, traversing slope and obstacles, nevertheless without carrying the person. The person is the passenger, also the control object,...
This paper adopts a GZ-I module and based on the module constructed an ldquoHrdquo-shaped four-legged robot. Inspired from the way of animals, in this paper the locomotion is generated and controlled by a central pattern generator (CPG), and so that the robot movement is digitally controlled. The four-legged robot has the pose and locomotion of standing, crawling, turning, and lateral crawling. Furthermore,...
In this paper, a novel hybrid fuzzy proportional-integral-derivative (PID) controller based on learning automata for optimal tracking of robot systems including motor dynamics is presented. Learning automata is used at the supervisory level for adjustment of the parameters of hybrid Fuzzy-PID controller during the system operation. The proposed method has better convergence rate in comparison with...
In research of biped walking robot, energy-efficiency is an important issue. Full-actuated type robots using ZMP based control have high environmental adjustability and high robustness, but they consume much energy. On the other hand, passive dynamic walking type robots have high energy-efficiency, but they don't have high-environmental adjustability and robustness. Then, we have proposed an optimal...
An adaptive control scheme for mechanical manipulators is proposed. The control loop consists of a network for learning the robot's inverse dynamics and online generating the control signal. Some simulation results are provided to evaluate the design. A supervisor is used to improve the performances of the system during the adaptation transients. The supervisory exerts two actions. The first one consists...
Recently, development of mini-sized humanoid robots with a certain level of intelligence becomes a popular research topic. Because of its small size and light weight, those humanoid robots become more portable and attractive. However, extra difficulties are introduced in hardware selection, mechanical design, motion planning, etc. In this paper, we propose the development of a transformable mini-humanoid...
A two-loop cascade adaptive controller is proposed for a non-stable, non-linear, strong coupling system using backstepping and fuzzy neural network. The proposed approach uses fuzzy neural networks to approximate unknown nonlinear function. Then, use backstepping to design adaptive controller to realize self-balancing control of robot. The simulation results indicate that both speediness and stability...
In this paper, a novel analytic projection method is proposed to calculate the prototype parameters of the reconfigurable mobile robot. The equivalent latitudinal and longitudinal stability margins of the mobile robot are investigated with non-linear characteristics. The Harmony Search (HS) method is also applied to obtain the optimal configurations.
This paper addresses the control of multi-robot formation in 2-dimension plane. Dynamic extension is used to linearize the robotpsilas kinematic model. Since the formation models, which use the error of robotspsila real positions and speeds with respect to their desired values as the controlled valuables, are coupled systems, a spatial shift operator is introduced to model them as spatially interconnected...
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