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The interaction between the snake-like robot and environment produces serpentine action to push the body forward. A slender body shape made from many modules occupies a larger scale. In this paper, snake-like robot motion planning method is analyzed by considering each module's position and its movement as well as position of obstacles. The Potential Energy Function between each module and obstacles...
This paper describes a control strategy for throwing motion of the springed Pendubot based on the concept of unstable zero dynamics. An underactuated two-link planar robot called the Pendubot is investigated to realize dexterous actions of the superior limb in human throwing motion. A torsion spring is mounted on the passive joint of the Pendubot representing the flexibility of the cubital joint....
Pronking (aka. stotting) is a gait in which all legs are used in synchrony, resulting in long flight phases and large jumping heights that may potentially be useful for mobile robots on rough terrain. Robotic instantiations of this gait suffer from severe pitch instability either due to underactuation, or the lack of sufficient feedback. Nevertheless, the dynamic nature of this gait suggests that...
This paper proposes a model-free fuzzy controller (MFFC) for wheeled inverted pendulums (WIPs) control problem. The main purpose of this paper is to develop a self-dynamic balancing and motion control strategy. A simple necessary and sufficient condition for analytically determining the stability of a wheeled inverted pendulum system is established. Finally, experimental results show that the proposed...
In this paper, a new concept for intelligent control of stability in technical systems is proposed based upon the Situation-Operator-Model-based cognitive architecture of autonomous system. The novelty of the proposed method is that the controller can accomplish the task of control without knowing the detailed structure of the system plant, nor its physical behavior, because all the information needed...
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.
This paper presents inverted pendulum with moving reference for the testing of stabilizing control algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. The motion of the two masses, that slide along the horizontal plane, is controllable for the purpose of platform stabilization. The usefulness of the idea presented is demonstrated using computer simulations...
This paper presents the development of Inverted Pendulum System at King Mongkut's Institute of Technology Ladkrabang (KMITL), including the designing, construction and control system design. The stabilizing of an unstable system in optimal control scheme via state-space approach is applied. The LQG controller design examples including the addition of the quadratic derivatives of state variables term...
An LQG control strategy is proposed and tested for a wheeled inverted pendulum robot. We show how a reduced set of sensors, as compared to other solutions that can be found in the literature, can be used to observe all state variables of interest for stabilization. A Kalman-Bucy estimator is used to estimate the unmeasured variables and to filter those that are directly measured. An LQR feedback strategy...
This paper deals with a control approach dedicated to stable limit cycle generation for underactuated mechanical systems. The proposed approach is based on partial nonlinear feedback linearization and dynamic control for optimal periodic reference trajectories tracking. Simulation results and experiments show the efficiency of the proposed approach.
In recent years, studies about control methods for complex machines and robots have been developed rapidly. Biped robots are often treated as inverted pendulums for its simple structure. But modeling of robot and other complex machines is a time-consuming procedure. A new method of modeling and simulation of robot based on SimMechanics is proposed in this paper. Physical modeling, parameter setting...
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