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In contrast to precise position control of the robot arms and manipulators, the force control has been studied recently. The robust position control does not allow the robots to share the same space with humans because the robots faithfully follow the position command, and it may lead to break the contacted environments. The impedance and compliance control could set impedances of robots so that the...
Independent mobility is important for the self-esteem and well-being of people with mobility impairments. For people with severe disabilities, there is a body of research investigating how best to share control of motion between a person with disabilities and a "smart wheelchair". Traditionally in "shared control", the control law is a linear combination of the human's intended...
This paper presents a new under-actuated resilient robot that has the three recovery processes available, as we proposed elsewhere. The new feature with the proposed resilient robot is such that all the recovery strategies can be accomplished in a 2D plane instead of a 3D space, thus reducing the complexity of the recovery process. The robot also has the ability of switching between a fully-actuated...
This paper investigates uniform global exponential stability(UGES) and stabilization of fractional-order nonlinear positive impulsive switched systems(FONPISS) with mode-dependent average dwell time(MDADT). Firstly, the proof of the positivity of FONPISS is given. Then, by constructing copositive Lyapunov functions and using MDADT approach, a static output feedback controller is constructed, and sufficient...
In this paper we address the issue of connecting abstract task definitions at a mission level with control functionalities for the purpose of performing autonomous robotic missions using multiple heterogenous platforms. The heterogeneity is handled by the use of a common vocabulary which consists of parametrized tasks such as fly-to, take-off, scan-area, or land. Each of the platforms participating...
This paper proposes a new advanced adaptive fuzzy sliding mode control (AAFSMC) approach and their suitability for use in the control of a highly nonlinear 2-dof serial PAM robot. Stability proof of the stable convergence of the overall closed-loop serial PAM robot system under novel AAFSMC control is demonstrated based on Lyapunov stability principle. Simulation results prove that the proposed AAFSMC...
The ability to steer multiple microrobots in different directions in the same workplace has been an ongoing challenge for the field. In this paper we present a novel method of controlling multiple microrobots in the same workplace by combining their magnetic actuation with catalytic motion. We achieve motion differentiation through the use of paramagnetic microrobots which assume different magnetizations...
Physical human-robot interaction is one of the hottest topic in robotics and safety issues are its fundamental aspect. The present paper contributes to this aspect in that collision detections can be completed on the servo level in an intuitive way. The principle of the proposed collision detection strategy is based on the relative difference of the feedback commanded torque, which is able to identify...
Routers in Content-Centric Networking (CCN) may locally cache frequently requested content in order to speed up delivery to end users. Thus, the issue of caching strategies arises, i.e., which content shall be stored and when it should be replaced. In this work, we employ, and study the feasibility of, novel techniques towards intelligent control of CCN routers that autonomously switch between existing...
Robotic systems that are soft or incorporate soft actuators are well suited for operation in unstructured environments and for safe interactions with fragile objects. The majority, however, are tethered or burdened with bulky payloads of pumps and compressors. In a recent article we presented a sealed, inflated actuator composed of fluidically connected membrane dielectric elastomer actuators capable...
In this paper, we address the problem of time-varying communication delay in force reflecting bilateral teleoperation. We introduce a switching-control method that makes the communication channel passive independent of the time-varying delay. The advantage of our approach is that we do not need information about the delay or the rate of change of the delay. Our controller results in master/slave position...
A new hierarchical multi-agent decision-making structure has been proposed. There are two phases of the structure. The first phase is the construction phase where the decision making structure consisting of switching and classification agents is built on the training data set generated by the system scenarios. In construction phase, switching and classification agents are trained and made ready for...
Expert based learning algorithms have been used by robots to choose satisfying reactions to human movements. These algorithms often demonstrate random performance that tries to hit a balance between adaptiveness and consistency that matches human's preferences intuitively. This paper provides a rigorous way to quantify the adaptiveness and consistency of the expert based learning algorithms in the...
In this paper, we propose a method to correct the over- and underexposed regions in images. For the correction of over- and underexposed regions, multiple light sources are used to obtain several images whose over- and underexposed regions are in different positions. The image processing consists of four steps. Firstly, multiple images are captured by alternately turning on and off the illuminations...
The behavior analysis of animal has a key role in biology and robotics. In this paper, we choose the rat as analysis object. For understanding and grasping the behavior of rat, we set up an automatic motion tracking and data analysis system for a rat. This system includes three subsystems: inertial data acquisition, image tracking and real-time data analysis. The inertial subsystem uses one CC2530...
This paper presents a multi-controller approach of control with symbolic fuzzy switching system and adaptive fuzzy gain to control our process in the different environment. First we present the model of the process (wrist of a Stäubli robot RX 90) and a local parametric models around equilibrium point. Then, we introduce the principles of multi-controller approach and fuzzy switching system. The originality...
The paper focuses on generating patterns in a plane that can serve several applications like (irregular-boundary) coverage, (differentiated) surveillance, etc. These patterns are centred around a stationary point, termed as target. For practical purposes, a target point can be any landmark, beacon, etc. A control law is proposed as a continuous function of range information (distance between the agent...
This paper presents a complete framework for image-based navigation from an image memory that exploits mutual information and does not need any feature extraction, matching or any 3D information. The navigation path is represented by a set of automatically selected key images obtained during a prior learning phase. The shared information (entropy) between the current acquired image and nearby key...
The work presented herein, attempts to address the problem of designing stepping recovery controllers for compliantly actuated humanoid robots. Based on the decomposition of the stepping procedure into three distinct phases, which are characterized by unique combinations of configurations and impedance levels, the contrivance of a Linear Quadratic Regulator (LQR) optimization process allows for the...
While autonomous capabilities have proliferated across a wide range of commercial and domestic applications, some tasks require intermittent aid from a human operator. Guaranteeing the safety of these intermittently-teleoperated systems requires stability guarantees that hold in the presence of switching. In this paper, we consider the problem of controlling a robotic vehicle using both a human controller...
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