The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper describes a switching visual servoing control scheme designed for an underwater vehicle with nonholonomic constraints. The objective of the proposed control methodology is to provide a human tele-operator the capability to move the vehicle without loosing a visual target from the vision system's optical field. Target tracking and vehicle pose are obtained using a laser vision system (LVS)...
This paper considers the problem of controlling a group of microrobots that can move at different speeds but that must all move in the same direction. To simplify this problem, the movement direction is made a periodic function of time. Although the resulting control policy is suboptimal for an infinite-horizon quadratic cost, a bound is provided on how suboptimal it is. This bound is extended to...
This article describes the design and simulation implementation of a behavior-based control system. The controllers are designed using a command filtered, vector backstepping (CFBS) approach. We use the results from hybrid system control where multiple Lyapunov functions are used in order to prove overall controller stability. We describe our approach using a second order system as a simple example...
We propose a low order two-channel decentralized controller design for stabilizing the multi-input multi-output linearized model of a self balancing autonomous robot. The robot model is based on a form of an inverted pendulum and the robot was constructed into a mechanical system in order to implement the stabilizing controller design.
Puncturing mud robot is a kind of trenchless device that can walk by itself in the earth. There are abroad appliance foreground and developing value as it can mainly pave PE pipe, PVC pipe, cable and optical fiber cable under the mud. Through researching on impacting construction of steerable air-powered impact mole in trenchless technology at home and abroad, the driving device of puncturing mud...
The goal of this work is the development and performance analysis of control algorithms for new soft fluidic actuators with rotary elastic chambers (REC-actuators). Due to their inherent compliancy these actuators fulfill the requisites for building intrinsically safe mechanisms as assistance robots and motion therapy devices, working in direct physical contact with humans. Besides the difficulties...
The tracking control problem of T-S fuzzy systems is solved in the paper. A new method is proposed to improve the existing result. All the designed conditions are expressed in the form of LMIs. Thus they are numerically realizable. From the simulation example, it can be seen that the proposed approach achieves a better tracking performance.
Active upper-limb exoskeleton robots have been developing from 1960s. In recent years, the mechanical designs and control algorithms of active upper-limb exoskeleton robots were developed significantly. This paper reviews the state-of-the-art of active upper-limb exoskeleton robots that are applied in the areas of rehabilitation and assistive robotics. In addition, the main requirements of the active...
The goal of motion planning is to find a feasible path that connects two positions and is free from collision with obstacles. Path sets are a robust approach to this problem in the face of real-world complexity and uncertainty. A path set is a collection of feasible paths and their corresponding control sequences. A path-set-based planner navigates by repeatedly testing each of these robot-fixed paths...
To the best of our knowledge, this is the first paper focus on the adaptive impedance control of robot manipulators with consideration of joint flexibility and actuator dynamics. Controller design for this problem is difficult, because each joint of the robot have to be described by a 5th-order cascade differential equation. In this paper, a backstepping-like procedure incorporating the model reference...
This paper presents the mechanical design of an ankle rehabilitation robotic device based on a 2-dof, redundantly actuated parallel mechanism. The parallel mechanism introduced in this paper has the advantage of mechanical and kinematic simplicity when compared to existing platforms while at the same time it is fully capable of carrying out all the exercises required by ankle rehabilitation protocols...
The trajectory is one of major issues for a humanoid robot because not every trajectory can provide a stable robot motion. In this paper, a real human motion is used to generate a robot trajectory. Image processing and transformation are used to extract the trajectory from a human motion to a robot trajectory. The dynamic stability of a robot is considered by using the zero moment point (ZMP) because...
In this paper, we present the design of a robust Iterative Learning Control (ILC) algorithm for a single flexible link in the presence of parametric uncertainty. The robust ILC design is formulated as a min-max problem with a quadratic performance index. An upper bound of the worst-case performance is employed in the min-max problem. Applying Lagrange duality to the min-max problem, we can reformulate...
Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents kinematic analysis, workspace, design and control to 3 degrees of freedom (DOF) parallel robots. Parallel robots...
In this paper, a novel method to synthesize a desired trajectory and sensory feedback control laws for robots based on the statistical characteristics of direct teaching data by a human is proposed. This work was motivated by a poor performance of an origami-folding robot developed by the authors. Since the robot simply replayed a given trajectory without sensory feedback control, it often failed...
This paper proposes an innovative approach for the design of a nonlinear controller to stabilize an autonomous mobile robot. The design approach combines a nonlinear control design method with a root-finding algorithm for nonlinear algebraic equations. For the design, the robot model is divided into two parts: a state space model with intermediate control inputs and algebraic nonlinear equations relating...
In this paper we represent a preliminary research on designing a behavior-based adaptive system utilizing self-optimizing memory controller. Rather than holistic search for the whole memory contents the model adopt associated feature analysis to successively memorize a newly experience state-action pair as an action of past experience, produce motor commands that make the controlled system to behave...
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 describe the design of a deformable robot with a tensegrity structure that can crawl and we show the results of experiments showing the ability of these robots to crawl. We first describe a tensegrity structure, composed of struts and cables, and its characteristics. We next explain the principle of crawling by robot body deformation, followed by a classification of the methods by...
This paper presents a new approach to the design of a generic two-input-single-output (TISO) fuzzy logic controller for a class of uncertain nonlinear systems. Firstly, A new variable structure control scheme achieving uniform ultimate boundedness of the closed-loop system is established as a supervisory control for a generalized PD-type TISO fuzzy controller. The fuzzy controller is then constructed...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.