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Research so far on adaptive bilateral control of master-slave teleoperation systems considers dynamic uncertainties but stops short of considering kinematic uncertainties. However, when picking up objects of unknown lengths, orientations and gripping points, the overall kinematics of a robot in the teleoperation system becomes uncertain. Therefore, new controllers are required that can guarantee the...
It is well known that a robot driven by a McKibben pneumatic actuator generates stable motion in spite of its simple control and simple actuator model. However, how the characteristics of the McKibben pneumatic actuator act on the stability of a robots motion has not been sufficiently discussed. In this paper, a physical model of the McKibben pneumatic actuator is derived and the stability of a robot...
In order to exert large force on an environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as “impact motion.” The objective of an impact motion is to exert large force on an environment, however if the impulsive force is too large, the robot may fall down due to the reaction force. This paper presents an optimization scheme to...
In the paper trajectory tracking algorithm including collision avoidance behaviour is presented. Dynamic properties of the robots are taken into account. Obstacles are assumed to be convex. Artificial potential functions (APF) are used to avoid collisions between robots and with static obstacles in the environment. Stability proof for the presented algorithm is shown and simulation results are presented...
Passive running robot can run down shallow slope with no energy source without gravity. The robot can generate a stable limit cycle. Dynamics of passive running is very interesting target and important for developing the robot and understanding the human locomotion. By the way, running high jumper can jump very high. The point of jumping is to transfer horizontal velocity into lifting momentum through...
This paper investigates a novel mechanism, called DSAC for Dynamic, Single Actuated Climber, which propels itself upwards by oscillating its leg in a symmetric fashion using a single actuator. This mechanism achieves dynamic, vertical motion while retaining simplicity in design and control. We explore the local orbital stability of the DSAC mechanism. We use the Poincaré map method with a well chosen...
We model the dynamics of non-linear point-to-point robot motions as a time-independent system described by an autonomous dynamical system (DS). We propose an iterative algorithm to estimate the form of the DS through a mixture of Gaussian distributions. We prove that the resulting model is asymptotically stable at the target. We validate the accuracy of the model on a library of 2D human motions and...
As to the robot joint actuated by a pair of McKibben muscles, a CMAC neural network and PID based compound control algorithm is designed. The CMAC as a feed forward compensator realizes the reverse dynamic model of the robot joint. The PID controller realizes the feed back control in order to guarantee the stability of the system. The output of the compound controller is exerted to the robot joint...
In this paper we investigate the control of compass gait biped based on its impact dynamics. We use the receding horizon control (RHC) strategy to develop an active control law so as to mimic the passive gait. Our result shows that this control strategy not only mimics the passive gait but can also stabilize it for those initial conditions, which make the passive gait unstable.
PenduBot is a new experiment object in the control theory and a typical representation in the underactuated robot, so it is the research focus of control and robot domain. It is known for its strongly nonlinear and naturally unstable properties. To stabilize the PenduBot and verify the control abilities of the algorithm on strongly nonlinear and naturally unstable properties, the thesis presents the...
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...
The most popular classical adaptive robot control methods as the Adaptive Inverse Dynamics Control or the Slotine-Li Adaptive Robot Controller are constructed on the basis of exact knowledge on the form of the equations of motion, and on the application of Lyapunov's 2nd Method. This generic technique makes it possible to guarantee the stability of the controlled system using only simple estimations...
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...
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 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...
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...
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...
In this note, we have proposed a prediction error based adaptive Jacobian controller to solve the problem of concurrent adaptation to both uncertain kinematics and dynamics. This controller is composed of a modified computed torque controller and two cushion floor least-square estimators, and in ideal case of perfect knowledge of the robot parameters it leads to linear and decoupled error dynamics...
As a recent trend in humanoid robot research, running motion appears to be a very important issue since faster and faster mobility is required. Being an essential fact, jumping phenomenon seems to be the previous step of succeeding running motion as jumping dynamics play the key role to achieve stable running motion cycles. Therefore, in this paper, authors group sought a method to generate real-time...
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