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检索条件"任意字段=9th International Conference on Informatics in Control Automation and Robotics, ICINCO 2012"

共 366 条记录，以下是211-220 订阅

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A PD control scheme for passive dynamic walking based on series elastic actuator

A PD control scheme for passive dynamic walking based on ser...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Zhao, Jie Liu, Xinyu Zang, Xizhe Wu, Xiaoguang Department of Mechanical Engineering Harbin Institute of Technology Harbin Harbin Heilongjiang Province China

Using a complaint actuator is necessary and one of the most important factor for a passive biped robot to get a natural gait which is an unique feature of 9;passive dynamic walking9;, so how to control the compl... 详细信息

ISBN: (纸本)9781467312776

Using a complaint actuator is necessary and one of the most important factor for a passive biped robot to get a natural gait which is an unique feature of 'passive dynamic walking', so how to control the complaint actuator well is very important. In this paper we choose the Series Elastic Actuator (SEA) as our complaint actuator, improve its structure, and propose a PD control scheme based on the SEA to obtain a higher control accuracy of the swing-leg's desired angle and a more natural gait of the walking. We built a passive biped robot prototype with an upper body that is fully passive by using bisecting mechanism, and finally the PD control scheme was proved effective by both simulation and prototype experiment. © 2012 IEEE.

关键词： Actuators

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Automatic function-isomorphic configuration recognition and control for UBot modular self-reconfigurable robot

Automatic function-isomorphic configuration recognition and ...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Zhu, Yanhe Li, Ge Wang, Xiaolu Cui, Xindan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Versatility of configurations is a significant feature for modular self-reconfigurable robots. For an arbitrarily assembled typical configuration, it is not easy to find the control method quickly in case of the symmetries of the configuration and module shape. To solve this problem, a database with lots of known configurations has been established. All the configurations in the database have their own control methods which have been studied before. therefore, the way for matching the new configuration to one existing configuration in the database is quite important in locomotion and self-reconfiguration control of the self-reconfigurable robotic system. A combined configuration recognition method based on Matlab graphisomorphism function and improved three-dimensional linked list of modules algorithm was proposed. Firstly we use graphisomorphism function to find the configurations sharing the same underlying graph structure, then use improved three-dimensional linked list algorithm to acquire the ID and gait mappings. the method has been verified by simulation and experiment. © 2012 IEEE.

关键词： Modular robots

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A new DMOC-based approach to solve Goddard rocket problem

A new DMOC-based approach to solve Goddard rocket problem

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Zhang, Jiawei Zhang, Weizhong Shan, Jiayuan Key Laboratory of Dynamic and Control of Flight Vehicle Beijing Institute of Technology Haidian District Beijing China

A new methodology - DMOC (Discrete Mechanics and Optimal control) is presented to solve the classic Goddard rocket problem. this method firstly discretizes the Lagrange-d9;Alembert principle for the rocket system, ... 详细信息

ISBN: (纸本)9781467312776

A new methodology - DMOC (Discrete Mechanics and Optimal control) is presented to solve the classic Goddard rocket problem. this method firstly discretizes the Lagrange-d'Alembert principle for the rocket system, the resulting forced discrete Euler-Lagrange equations then serve as constraints for the optimization of a given cost functional. therefore the optimal control problem is converted into a nonlinear programming (NLP) problem, which is modelled in AMPL (Advanced Mathematical Programming Language) and solved in a solver named as IPOPT (Interior Point Optimizer). Finally, the DMOC-based approach successfully solves the Goddard rocket problem, which is a terminal free, singular optimal control problem with path constrain;the results are proved reliable and effective by comparison with the results of conventional solution and statistical analysis. © 2012 IEEE.

关键词： Equations of motion

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Flatness measurement and active control for a membrane structure

Flatness measurement and active control for a membrane struc...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Shan, Jinjun Orszulik, Ryan Girin, Mark Sinnathamby, Gowryshankar Department of Earth and Space Science and Engineering York University 4700 Keele St. Toronto ON M3J 1P3 Canada

ISBN: (纸本)9781467312776

this paper presents the development of photogrammetry software to measure the flatness of a membrane structure for active shape control. the principle of photogrammetry technique and detailed implementation are presented in this paper. In order to verify the effectiveness of this software, experiments are conducted on a membrane structure test facility. Comparisons between this developed software and the commercial automation Manager vision software from Creative Lifestyles Inc. are conducted. the results show that this photogrammetry software can measure the membrane flatness accurately and quickly. © 2012 IEEE.

关键词： Photogrammetry

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A salamander-like amphibious robot: System and control design

A salamander-like amphibious robot: System and control desig...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Yin, Xinyan Wang, Caiwang Xie, Guangming College of Engineering Peking University Beijing 100871 China School of Electrical and Electronics Engineering East China Jiaotong University Nanchang 330013 China

ISBN: (纸本)9781467312776

In this paper, a salamander-like amphibious robot prototype named Chigon is proposed. the Chigon can realize crawling locomotion on land and swimming locomotion under water, respectively. In order to achieve such two kinds of locomotion, a novel mechanical structure containing four limbs and a multiple segments linked tail is designed. Besides the mechanical modules, on-board controllers are also designed to drive these limbs and the tail. then, the Chigon may craw on land by turning its four limbs and swim under water by lashing its tail. the corresponding locomotion control law is addressed in detail. © 2012 IEEE.

关键词： Machine design

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Linear Discrete-Time Systems - ∞ Dynamic Output-Feedback control with Preview 15th

Linear Discrete-Time Systems - ∞ Dynamic Output-Feedback Co...

引用

15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Gershon, Eli Holon Israel Tel Aviv University Tel Aviv Israel

ISBN: (纸本)9783030319922

the theory of preview tracking control is applied for the solution of the dynamic output-feedback control problem of linear discrete-time systems for both: finite-horizon and stationary cases. Based of the solution of the state-feedback control problem and a specially devised version of the bounded real lemma for systems with tracking signals, three preview patterns are explored. the latter include the simplest case where the tracking signal is measured on line and two additional cases where the tracking signal is either previewed in a fixed interval ahead or it is perfectly known in advance along the finite horizon interval given in the system. the principle method of solution for all the latter three preview patterns is that the controller plays against nature which chooses the initial condition and the energy-bounded disturbances. © 2020, Springer Nature Switzerland AG.

关键词： State feedback

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A homogenous CPG-network for multimode locomotion control of modular self-reconfigurable robot

A homogenous CPG-network for multimode locomotion control of...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Cui, Xindan Zhu, Yanhe Wang, Xiaolu Tang, Shufeng Zhao, Jie State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A self-reconfigurable (SR) robot is a cellular robot that is capable of adapting its shape and functions to changing environments and demands, and the "cellular" in which can rearrange their mutual mechanical connection to change the robot's outward features. this paper first introduces a new self-reconfigurable robotic system UBot. For the variability characteristics of the self-reconfigurable system, combined with the biological central pattern generator (CPG), a locomotion control method has been proposed which can control multimode locomotion for different configurations through the self-excited oscillation via different coupled modes of CPG network. the oscillators in the CPG network are homogenous with the same models and parameters, only the connection relations change for different configurations. the simulation and experiment of quadruped walking and snake-type wiggling controlled by CPG network have been successfully completed on the platform of UBot modular self-reconfigurable system. © 2012 IEEE.

关键词： Modular robots

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A stochastic state prediction in AFM based nanomanipulation

A stochastic state prediction in AFM based nanomanipulation

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Wang, Zhiyu Liu, Lianqing Wang, Zhidong Dong, Zaili Yuan, Shuai Hou, Jing State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Graduate School Chinese Academy of Sciences Beijing 100001 China

ISBN: (纸本)9781467312776

the reliability of AFM based nanomanipulation is one of the prerequisites for nano fabricating, thus uncertainties of the target nano-particle position need to be controlled within a pointed limits, which lead to two problem to be solved: one is how to describe state uncertainties at every different sample times;the other is how to deduce the next state uncertainty according to the current one. this paper provides a method to construct a stochastic predictive model to covering those problems. In the concrete, the predictive model uses Gaussian and Beta distribution as well as Mont Carlo Method to describe and deduce the state uncertainties respectively. the method is also applied to the process of pushing a nano-particle using AFM. © 2012 IEEE.

关键词： Stochastic systems

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Analyzing the "knacks " of transferring human and developing a two-body integrated model as a basis for humanoid control

Analyzing the "knacks " of transferring human and developing...

引用

9th IEEE-RAS international conference on Humanoid Robots, HUMANOIDS09

作者： Ogata, Kunihiro Kuniyoshi, Yasuo Intelligent Systems and Informatics Laboratory Department of Mechano-Informatics Graduate University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-8656 Japan

ISBN: (纸本)9781424445882

In order to help with care work and rescue operations, humanoid robots should have the ability to lift and carry humans gently and steadily. this paper is a step towards the ultimate goal of giving humanoid robots the ability to lift and carry humans, a task which involves very complex physical interactions. We measure several such lifting and carrying motions using a motion capture system, paying special attention to "knacks" which are motion patterns which are critical to success in the task. the knack movements are basically simple, so if they can be found, they can be used to obtain control methods enabling human-lifting motions for humanoid robots. In the experimental results, we found two common knacks between three subjects, and that falling momentum plays a very important role in the motion . Moreover we discovered that when a subject uses the two special knacks effectively, along with a rotation movement, the load on the waist is decreased. thus, we propose a motion model for humanoid robot control that includes translation movement and rotation movement, and we expect that this model will have the ability to express various human handling motions. ©2009 IEEE.

关键词： Anthropomorphic robots

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Fuzzy sliding mode control for a gyroscope system

Fuzzy sliding mode control for a gyroscope system

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Kuo, Chao-Lin Yau, Her-Terng Lin, Chia-Hung Tsui, Chien-Kuo Institute of Maritime Information and Technology National Kaohsiung Marine University Kaohsiung Taiwan Department of Electrical Engineering National Chin-Yi University of Technology Taichung Taiwan Department of Electrical Engineering Kao-Yuan University Kaohsiung Taiwan

ISBN: (纸本)9781467312776

the gyroscope system is widely applied in various areas of engineering. From the state response of the gyroscope system, it is shown that the gyroscope system have highly nonlinearity and chaotic characteristic. In this paper, a novel scheme which use fuzzy sliding mode control (FSMC) is proposed for a gyroscope system. the proof of Lyapunove function is used to verify the error states trajectory of the gyroscope system is converges to zero. the numerical simulation results are shown that the effective and feasibility of the proposed control method. © 2012 IEEE.

关键词： Fuzzy systems

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