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A wheeled mobile robotic system (WMR) is a kind modular robotic, nonlinear and the system subjected to nonholonomic constraints. It is impossible to obtain an exact dynamics model due to unknown parameters, unpredictable and irregular features, external disturbance. This paper proposes an adaptive robust controller to guide WMR to follow the desired trajectory. The cascade control system is applied...
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.
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 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...
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...
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 importance of the robots for home, public places and many other places are increasing. In order to realize autonomous work in such dynamic and unknown environment, recognizing external world is required. In addition, robots also have to move quickly and work accurately. In this paper, the control system for a two wheels driven redundant mobile manipulator with a monocular camera as a visual sensor...
A Web-based remote control system of a mobile manipulator over Internet is studied. Due to the development of Internet technique and speed increase of transmission, the inexpensive convenient communication approach is provided for the remote control system. However, time delay on Internet is considered as a problem which affects the stability of teleoperation system. Therefore, based on the test and...
When a mobile robot performs some special tasks, such as carrying a heavy load, moving on a slope or rough terrain, particularly contacting with the environment, it may become unstable even overturn. First, the paper presents a mobile humanoid robot whose upper human-like body is mounted on the mobile platform supported by three wheels (two driving wheels and one caster wheel) and subjected to nonholonomic...
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